WO2011158292A1 - 対象物識別装置、及びその方法 - Google Patents
対象物識別装置、及びその方法 Download PDFInfo
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- WO2011158292A1 WO2011158292A1 PCT/JP2010/004015 JP2010004015W WO2011158292A1 WO 2011158292 A1 WO2011158292 A1 WO 2011158292A1 JP 2010004015 W JP2010004015 W JP 2010004015W WO 2011158292 A1 WO2011158292 A1 WO 2011158292A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
Definitions
- the present invention relates to an object identification device and a method thereof, and more particularly, to an object identification device and a method thereof mounted on a moving body such as an automobile.
- a mobile device such as an automobile has a radar device that measures a relative distance, a relative speed, and the like with respect to a target object based on a radiated electromagnetic wave and a reflected wave reflected by the target object present in the vicinity.
- a radar device mounted on a moving body such as an automobile
- an object existing in the vicinity collides with the host vehicle, for example, by analyzing the electromagnetic wave and the reflected wave. Recognizing whether it is a three-dimensional object that is high enough to cause an accident, or a stationary object on the road that does not have high enough to cause an accident by colliding with the host vehicle, such as a manhole cover There is.
- a forward obstacle detection device hereinafter referred to as conventional technology
- the front object is stationary on the road described above. Recognize as a thing.
- the said front object when a preceding vehicle exists ahead of a front object, the said front object is recognized as a stationary object on the road mentioned above.
- two forward objects for example, guardrails that exist on both sides of the traveling path of the host vehicle
- the traveling speed of the host vehicle is equal to or higher than a predetermined threshold value and are continuously detected. Etc.
- the forward object that reflects the reflected wave is regarded as a stationary object on the road. recognize.
- the conventional technology has the following problems. That is, in the prior art, the preceding vehicle passes above the front object, the preceding vehicle exists in front of the front object, the front object exists between two continuously detected front objects, and monotonous. After the increase, the situation in which a stationary object on the road can be recognized is limited, for example, a forward object reflects a reflected wave having a monotonously decreasing intensity.
- an object of the present invention is to provide an object identification device and a method for identifying the above-described three-dimensional object and road stationary object.
- the present invention has the following features.
- 1st aspect of this invention is the target object identification apparatus which identifies the said target object based on the transmission signal and the reflected signal which the said transmission signal reflected on the target object, Comprising: Relative distance with a target object, and Based on the measurement means for measuring at least one of the relative speed, the intensity detection means for detecting the intensity of the reflected signal, the change amount of the relative distance, the relative speed, and the change amount of the intensity, An object identification means for identifying an object to be an obstacle.
- the object identification unit determines whether or not the change amount of the relative distance is out of the range of the change amount of the relative distance that is determined in advance.
- an obstacle identifying means for identifying that the object is an obstacle when the intensity change amount is outside the range of the intensity change amount.
- the object identifying unit includes a speed determining unit that determines whether or not the absolute value of the relative speed is equal to or higher than a predetermined speed threshold value; An intensity change amount judging means for judging whether or not the intensity change amount is out of a predetermined intensity change range; an absolute value of the relative speed is equal to or greater than a speed threshold value; and an intensity change amount Includes an obstacle identifying means for identifying that the object is an obstacle when the value is outside the range of the amount of change in intensity.
- the object identifying unit determines whether or not the change amount of the relative distance is outside the range of the change amount of the relative distance set in advance.
- a change amount determination means and a frequency determination for determining whether or not the frequency at which the intensity change amount is outside the first predetermined range exceeds a predetermined frequency threshold in a predetermined period.
- an obstacle identifying means for identifying that the object is an obstacle when the change amount of the relative distance is out of the range of the change amount of the relative distance and the frequency is equal to or higher than the frequency threshold value.
- the object identifying unit includes a speed determining unit that determines whether or not the absolute value of the relative speed is equal to or higher than a predetermined speed threshold value; A frequency determining means for determining whether or not the frequency that the intensity change amount is out of the first predetermined range exceeds a predetermined frequency threshold in a predetermined period; And an obstacle identifying means for identifying that the object is an obstacle when the absolute value is not less than the speed threshold and the frequency is not less than the frequency threshold.
- the object identifying unit is configured so that the change amount of the relative distance is outside the range of the change amount of the predetermined relative distance, and is in a predetermined period.
- the object is identified as an obstacle when the difference in frequency obtained by comparing the intensity change amount with a predetermined different range is equal to or greater than a predetermined threshold value.
- the object identifying means determines the number of times that the intensity change amount is outside the predetermined first range in the predetermined first period.
- the first counting means for counting as the first frequency and the number of times the intensity change amount is smaller than the first range and outside the predetermined second range in the second predetermined period
- a second counting unit that counts as a frequency of 2
- a frequency difference calculating unit that calculates a difference between the first frequency and the second frequency as a frequency difference.
- the object identifying means determines the number of times the intensity change amount is outside the predetermined first range in the predetermined first period.
- the first counting means for counting as the first frequency, and the number of times the intensity change amount is smaller than the first range and within the predetermined second range in the second predetermined period
- a second counting unit that counts as a frequency of 2
- a frequency difference calculating unit that calculates a difference between the first frequency and the second frequency as a frequency difference.
- the object identifying means is configured so that the amount of change in intensity is outside the first predetermined range in the first predetermined period.
- the first counting means for counting the number of times that a predetermined time interval elapses before the first range is reached as a first frequency, and the amount of change in intensity in a predetermined second period A second frequency that counts the number of times that a predetermined time interval elapses from the time when the predetermined time interval elapses until the value falls within the second range after being smaller than the first range and outside the second range.
- Counting means, and a frequency difference calculating means for obtaining a difference between the first frequency and the second frequency as a frequency difference.
- the object identifying means is configured such that the amount of change in intensity is outside the predetermined first range in the predetermined first period.
- the first counting means for counting the number of times that a predetermined time interval elapses before the first range is reached as a first frequency, and the amount of change in intensity in a predetermined second period A second frequency that counts the number of times that a predetermined time interval elapses from the second range being smaller than the first range to being outside the second range after being within the second range.
- Counting means, and a frequency difference calculating means for obtaining a difference between the first frequency and the second frequency as a frequency difference.
- the object identifying unit is configured such that the relative speed exceeds a predetermined speed threshold value, and the intensity change amount is determined in a predetermined period.
- the difference in frequency obtained by comparing with different predetermined ranges is equal to or greater than a predetermined threshold, the object is identified as an obstacle.
- the object identifying means determines the number of times that the intensity change amount is outside a predetermined first range in a predetermined first period.
- the first counting means for counting as the first frequency and the number of times the intensity change amount is smaller than the first range and outside the predetermined second range in the second predetermined period
- a second counting unit that counts as a frequency of 2
- a frequency difference calculating unit that calculates a difference between the first frequency and the second frequency as a frequency difference.
- the object identifying means determines the number of times the intensity change amount is outside a predetermined first range in a predetermined first period.
- the first counting means for counting as the first frequency and the number of times the intensity change amount is smaller than the first range and outside the predetermined second range in the second predetermined period
- a second counting unit that counts as a frequency of 2
- a frequency difference calculating unit that calculates a difference between the first frequency and the second frequency as a frequency difference.
- the object identifying means is configured such that the amount of change in intensity is outside the first predetermined range in the first predetermined period.
- the first counting means for counting the number of times that a predetermined time interval elapses before the first range is reached as a first frequency, and the amount of change in intensity in a predetermined second period A second frequency that counts the number of times that a predetermined time interval elapses from being smaller than the first range and exceeding a predetermined second range to being within the second range.
- Counting means and frequency difference calculating means for obtaining a difference between the first frequency and the second frequency as a frequency difference.
- the object identifying means is configured such that the amount of change in intensity is outside the first predetermined range in the first predetermined period.
- the first counting means for counting the number of times that a predetermined time interval elapses before the first range is reached as a first frequency, and the amount of change in intensity in a predetermined second period A second frequency that counts the number of times that a predetermined time interval elapses from the second range being smaller than the first range to being outside the second range after being within the second range.
- Counting means, and a frequency difference calculating means for obtaining a difference between the first frequency and the second frequency as a frequency difference.
- the object identifying unit is configured such that the change amount of the relative distance is outside the range of the change amount of the relative distance set in advance, and the change amount of the relative distance is When the intensity change rate ratio is equal to or greater than a predetermined threshold, the object is identified as an obstacle.
- the object identifying means is configured so that the change amount of the relative distance is outside the range of the change amount of the predetermined relative distance, and the predetermined period is The object is identified as an obstacle when the frequency at which the ratio of the intensity variation to the relative distance variation is equal to or greater than a predetermined ratio threshold is equal to or greater than a predetermined frequency threshold.
- the object identifying means is configured such that the change amount of the relative distance is outside the range of the change amount of the relative distance that is set in advance and the time period is set in advance.
- the difference in frequency obtained by comparing the ratio of the change amount of the intensity with respect to the change amount of the relative distance and a predetermined ratio threshold value different from each other is equal to or greater than a predetermined frequency difference threshold value, Identify the object as an obstacle.
- the object identifying means has a predetermined ratio of the intensity change amount to the relative distance change amount in a predetermined first period.
- a first counting unit that counts the number of times equal to or greater than a ratio threshold value of 1 as a first frequency, and a ratio of an intensity change amount to a change amount of a relative distance in a second predetermined period is a first A difference between the first frequency and the second frequency, and a second counting means for counting a number of times that is greater than a ratio threshold value of the second ratio threshold value and greater than a predetermined second ratio threshold value as a second frequency Frequency difference calculating means for calculating the difference as a frequency difference.
- the object identification unit stops the identification of whether the object whose relative distance is outside the predetermined identification range is an obstacle or a non-obstacle. Including means.
- the object identifying means further includes obstacle determining means for regarding an object whose relative distance is outside the identification range as an obstacle.
- a twenty-second aspect of the present invention is an object identification method for identifying an object based on a transmission signal and a reflected signal reflected by the object, wherein the relative distance from the object, and Based on a measurement step for measuring at least one of the relative velocities, an intensity detection step for detecting the intensity of the reflected signal, an amount of change in relative distance, and at least one of the relative velocity, and an amount of change in intensity, An object identification step for identifying an object to be an obstacle.
- an object identification device and a method for identifying the above-described three-dimensional object and road stationary object without being limited to the situation.
- FIG. 1 is a block diagram showing a schematic configuration of an object identification device according to the present invention.
- FIG. 2A is a diagram illustrating an example of a path of a reflected signal reflected by an obstacle.
- FIG. 2B is a diagram illustrating an example of the intensity of the combined reflection signal.
- FIG. 2C is a diagram illustrating an example of the intensity of the combined reflection signal.
- FIG. 3A is a diagram illustrating an example of a path of a reflected signal reflected by a non-obstacle.
- FIG. 3B is a diagram illustrating an example of the intensity of the reflected signal.
- FIG. 3C is a diagram illustrating an example of the intensity of the reflected signal.
- FIG. 4 is a flowchart showing an example of processing of the computing means according to the present invention.
- FIG. 1 is a block diagram showing a schematic configuration of an object identification device 1 according to the first embodiment of the present invention.
- the object identification device 1 according to the present embodiment includes a transmission signal generation unit 101, a transmission unit 102, a reception unit 103, a mixing unit 104, a filtering unit 105, a quantization unit 106, and a signal analysis unit 107. And an arithmetic means 108.
- a transmission signal generation unit 101 a transmission unit 102, a reception unit 103, a mixing unit 104, a filtering unit 105, a quantization unit 106, and a signal analysis unit 107.
- an arithmetic means 108 In the description of the present embodiment, it is assumed that the object identification device 1 is mounted on the host vehicle.
- the transmission signal generation means 101 is typically mainly composed of a VCO (Voltage Controlled Oscillator) that generates a signal having a frequency proportional to the applied voltage.
- the transmission signal generation means 101 gradually increases from a predetermined lower limit frequency to a predetermined upper limit frequency in a predetermined gradual increase period, and then from the upper limit frequency to a predetermined gradual decrease period.
- a so-called triangular wave whose frequency periodically changes so as to gradually decrease to the lower limit frequency is generated as a transmission signal.
- the transmission unit 102 is typically an antenna, and radiates the transmission signal generated by the transmission signal generation unit 101 into space as an electromagnetic wave.
- the receiving means 103 is typically an antenna, and receives the reflected signal reflected from the object by the transmission signal radiated from the transmitting means 102 to the space.
- the mixing unit 104 is typically a mixer, which mixes the transmission signal generated by the transmission signal generation unit 101 and the reflected signal received by the reception unit 103 to obtain the frequency of the difference between the signals. A so-called beat signal is generated.
- the filtering means 105 typically filters only beat signals in a predetermined frequency band among beat signals generated by the mixing means 104.
- the quantizing means 106 is typically a digital beat signal obtained by quantizing and converting a beat signal that has passed through the filtering means 105 with a predetermined quantization frequency (sampling rate) and a predetermined number of quantization bits. Is generated.
- the signal analysis unit 107 performs FFT (Fast Fourier Transform) analysis of the digital beat signal generated by the quantization unit 106 and obtains spectrum information indicating a frequency spectrum indicating the intensity of each frequency component of the digital beat signal. Generate.
- FFT Fast Fourier Transform
- the calculation means 108 acquires the spectrum information generated by the signal analysis means 107 and receives it by the reception means 103 based on the intensity peak value in the frequency spectrum indicated by the acquired spectrum information and the frequency that generates the peak value. At least the relative velocity is detected for each object that reflects the reflected signal. More specifically, in the frequency spectrum obtained by the signal analysis means 107, an intensity peak value is generated at a frequency corresponding to the relative speed with respect to the subject vehicle for each object that reflects the reflected signal.
- the calculation unit 108 acquires spectrum information indicating the frequency spectrum obtained by analyzing the digital beat signal by the signal analysis unit 107 through the above-described gradual increase period. Then, the calculation means 108 obtains an intensity peak value (hereinafter referred to as a gradually increasing peak intensity) and a frequency (hereinafter referred to as a gradually increasing peak frequency) that generates the gradually increasing peak intensity from the frequency spectrum indicated by the acquired spectrum information. To detect. Further, the calculation unit 108 acquires spectrum information indicating a frequency spectrum indicating a frequency spectrum obtained by analyzing the digital beat signal by the signal analysis unit 107 through the gradual decrease period.
- a gradually increasing peak intensity intensity peak value
- a frequency hereinafter referred to as a gradually increasing peak frequency
- the calculation means 108 obtains an intensity peak value (hereinafter referred to as a gradually decreasing peak intensity) and a frequency that generates a gradually decreasing peak intensity (hereinafter referred to as a gradually decreasing peak frequency) from the frequency spectrum indicated by the acquired spectrum information. To detect.
- a gradually decreasing peak intensity an intensity peak value
- a frequency that generates a gradually decreasing peak intensity hereinafter referred to as a gradually decreasing peak frequency
- the calculation means 108 combines the gradually increasing peak frequency and gradually decreasing peak frequency of the reflected signal reflected from the same object from the detected gradually increasing peak frequency and gradually decreasing peak frequency, and makes them correspond to each object.
- the so-called pairing process is performed.
- the calculating means 108 detects the relative speed with the corresponding target object using the gradually increasing peak frequency and the gradually decreasing peak frequency combined by performing the pairing process, and makes them correspond to each target object.
- calculation means 108 also makes the gradually increasing peak intensity and gradually decreasing peak intensity at each of the combined gradually increasing peak frequency and gradually decreasing peak frequency correspond to each object.
- the calculation unit 108 repeats the process of detecting the relative speed for each object from the frequency spectrum and making it correspond each time the transmission signal generation unit 101 generates a triangular wave for one cycle.
- a method in which the calculation unit 108 according to the present embodiment calculates at least the relative speed for each object based on the gradually increasing peak frequency and the gradually decreasing peak frequency is a conventionally known method as the FM-CW method.
- the calculating means 108 which concerns on this embodiment is the relative speed for every target object detected in the period which produces
- the relative speed for each object is continuously detected by performing a conventionally well-known tracking process for making the relative speed correspond to each object.
- the calculation means 108 continuously detects the relative speed for each object, and as described above, each time the triangular wave for one cycle is generated, the gradually increasing peak intensity and the gradually decreasing peak intensity are as described above.
- the relative speed, the gradual increase peak intensity, and the gradual decrease peak intensity for each object can be sequentially detected by detecting each of the objects.
- the calculating unit 108 is an obstacle based on the associated relative speed, gradually increasing peak intensity, and gradually decreasing peak intensity.
- the obstacle in the present embodiment is an object having a height from the traveling road surface to the extent that the traveling own vehicle collides. Examples of obstacles in the present embodiment include pedestrians and other vehicles.
- the non-obstacle in the present embodiment is an object having a height from the traveling road surface such that the traveling vehicle does not collide. As an example of the non-obstacle in this embodiment, a laying iron plate for construction, a manhole cover, etc. are mentioned.
- the calculation means 108 determines whether the object is an obstacle from the objects for which the relative speed has been obtained as described above.
- a target object to be identified as a non-obstacle is determined.
- the computing unit 108 identifies an object associated with a relative speed whose absolute value exceeds a predetermined speed threshold value thv as an object to identify whether it is an obstacle or a non-obstacle. Judge as the target object.
- the calculation means 108 determines an object that corresponds to a relative speed whose absolute value exceeds the speed threshold thv as an object to be identified as an obstacle or a non-obstacle. It will be described later.
- the calculation means 108 identifies the object determined as the object for identifying whether it is an obstacle or a non-obstacle. Specifically, the calculation means 108 obtains a change amount ⁇ P of intensity corresponding to the object determined as an object for identifying whether it is an obstacle or a non-obstacle, and the absolute value of the obtained change amount ⁇ P. Whether or not exceeds a predetermined variation amount threshold thp.
- the intensity variation ⁇ P corresponding to the object is obtained by differentiating the intensity obtained by averaging the gradually increasing peak intensity and the gradually decreasing peak intensity corresponding to each object as described above with respect to time. It is assumed that the differential value corresponds to each object.
- the calculation means 108 identifies the object corresponding to the fluctuation amount ⁇ P whose absolute value exceeds the fluctuation amount threshold value thp as the above-mentioned obstacle. On the other hand, the calculation means 108 identifies the object associated with the fluctuation amount ⁇ P whose absolute value does not exceed the fluctuation amount threshold value thp as the non-obstacle.
- FIG. 2A shows that when the host vehicle 10 and the preceding vehicle 20 are traveling, the reflected signal reflected by the preceding vehicle 20 from the transmission signal transmitted from the transmitting unit 102 of the host vehicle 10 is the receiving unit of the host vehicle 10.
- FIG. 10 is a diagram illustrating an example of a route to reach 103.
- the transmission signal transmitted from the transmission unit 102 of the host vehicle 10 is on a route that reaches the reception unit 103 of the host vehicle 10 as a reflected signal reflected by the preceding vehicle 20.
- the reflected signal reflected by the reflection point of the vehicle directly reaches the receiving means 103 of the host vehicle 10 and the reflected point of the preceding vehicle 20 and further reflected by the traveling road surface.
- the reflected signal reflected at the reflection point of the preceding vehicle 20 and following the route directly reaching the receiving means 103 of the host vehicle 10 is referred to as a direct reflection signal, reflected at the reflection point of the preceding vehicle 20, and further traveling.
- a reflection signal that is reflected on the road surface and traces the route that reaches the receiving means 103 of the host vehicle 10 is referred to as a road surface reflection signal.
- the path where the direct reflection signal reaches the receiving means 103 of the host vehicle 10 and the path where the road surface reflection signal reaches the receiving means 103 of the host vehicle 10 have different lengths. For this reason, a phase difference occurs between the direct reflection signal and the road surface reflection signal in the receiving means 103 of the host vehicle 10. Then, the phase difference generated between the direct reflection signal and the road surface reflection signal received by the receiving means 103 of the host vehicle 10 changes as the relative distance between the host vehicle 10 and the preceding vehicle 20 changes.
- the direct reflection signal and the road surface reflection signal are combined and received.
- a reflected signal (hereinafter referred to as a combined reflection) that is combined and received.
- the intensity of the signal changes.
- FIG. 2B is an example of a diagram showing the intensity of change of the composite reflection signal in correspondence with the relative distance between the host vehicle 10 and the preceding vehicle 20.
- the intensity shown as an example in FIG. 2B is attenuated as the relative distance increases.
- FIG. 2C shows that when the own vehicle 10 approaches the preceding vehicle 20, the intensity of the combined reflection signal changes corresponding to the passage of time when the relative distance between the own vehicle 10 and the preceding vehicle 20 changes.
- FIG. The intensity shown as an example in FIG. 2C increases as time elapses and the own vehicle 10 approaches the preceding vehicle 20, and the distance that attenuates by propagating through the space decreases.
- the combined reflected signal obtained by combining the direct reflected signal and the road surface reflected signal changes as the relative distance between the host vehicle 10 and the preceding vehicle 20 changes with time.
- the strengthening and the weakening are repeated periodically, so that the intensity changes periodically.
- the calculation unit 108 compares the absolute value of the fluctuation amount ⁇ P with the fluctuation amount threshold thp, and the intensity periodically changes to make the absolute value the threshold value.
- An object associated with the fluctuation amount ⁇ P exceeding the value thp is identified as an obstacle.
- the relative speed between the host vehicle 10 and the preceding vehicle 20 when the relative speed between the host vehicle 10 and the preceding vehicle 20 is substantially zero, the relative distance between the host vehicle 10 and the preceding vehicle 20 does not change. The phase difference generated with the reflected signal does not change. Therefore, when the relative speed between the host vehicle 10 and the preceding vehicle 20 is substantially zero, the intensity of the direct reflection signal and the combined reflection signal obtained by synthesizing the road surface reflection signal does not change as described above, and the absolute value is The fluctuation amount ⁇ P exceeding the fluctuation amount threshold value thp is not obtained. Then, as described above, the object associated with the intensity at which the fluctuation amount ⁇ P does not exceed the fluctuation amount threshold value thp is an obstacle such as the preceding vehicle 20 by the calculation means 108 according to the present embodiment. However, it is mistakenly identified as a non-obstacle.
- the absolute value of the fluctuation amount ⁇ P is determined as the fluctuation threshold value thp. May be mistakenly identified as a non-obstacle object.
- the calculation unit 108 according to the present embodiment is an obstacle or a non-obstacle to prevent the object that is an obstacle from being erroneously identified as a non-obstacle.
- An object to be identified is determined before identification. Since it is an object whose relative velocity is substantially zero as described above, the object that is an obstacle is identified as a non-obstacle, so the calculation means 108 according to the present embodiment specifically includes: As described above, an object corresponding to a relative speed whose absolute value exceeds a predetermined speed threshold thv is determined as an object to be identified as an obstacle or a non-obstacle. . This is the relative speed at which the absolute value exceeds the speed threshold value thv when the computing unit 108 according to the present embodiment determines an object to be identified as an obstacle or a non-obstacle. This is the reason for determining the corresponding object.
- FIG. 3A shows that when the host vehicle 10 is traveling, the reflected signal reflected by the manhole cover 30 on which the transmission signal transmitted from the transmission means 102 of the host vehicle 10 is present on the front traveling road surface is reflected. It is a figure which shows an example of the path
- the manhole cover 30 is provided on a route where the transmission signal transmitted from the transmission unit 102 of the host vehicle 10 reaches the reception unit 103 of the host vehicle 10 as a reflected signal reflected by the manhole cover 30. There is only a route through which the reflected signal reflected at the reflection point directly reaches the receiving means 103 of the host vehicle 10.
- the relative distance changes, unlike the case where there are at least two paths as described with reference to FIG. 2A.
- the combined reflection signal having an intensity that periodically changes according to is not received by the receiving means 103 of the host vehicle 10.
- FIG. 3B shows the intensity of the reflected signal reflected from the manhole cover 30 shown as an example in FIG. 3A by the transmission signal transmitted from the transmission means 102 of the host vehicle 10 corresponding to the relative distance between the host vehicle 10 and the manhole cover 30. It is an example of the figure shown.
- the intensity shown as an example in FIG. 3B is attenuated as the distance propagating in space increases as the relative distance between the host vehicle 10 and the manhole cover 30 increases.
- FIG. 3C shows a reflected signal reflected by the manhole cover 30 shown as an example in FIG. 3A when the transmission signal transmitted from the transmission means 102 of the own vehicle 10 when the host vehicle 10 approaches the manhole cover 30. It is an example of the figure which shows intensity
- the intensity shown as an example in FIG. 3C increases as the host vehicle 10 approaches the preceding vehicle 20 as time elapses, and the distance that propagates and attenuates in space decreases.
- an object that can be regarded as a non-obstacle (a stationary object on the road) having a height from the traveling road surface such that the traveling vehicle 10 does not collide, such as a manhole cover 30 shown as an example in FIG. 3A.
- the calculation means 108 compares the absolute value of the fluctuation amount ⁇ P with the fluctuation amount threshold value thp, and the absolute value fluctuates because it changes relatively monotonously and gently.
- An object associated with the intensity of the fluctuation amount ⁇ P that does not exceed the quantity threshold thp is identified as a non-obstacle.
- the calculation means 108 can distinguish an object from an obstacle and a non-obstacle based on the relative speed to the object and the intensity of the reflected signal.
- step S101 the calculation means 108 includes spectrum information indicating the frequency spectrum obtained by analyzing the digital beat signal by the signal analysis means 107 through the gradual increase period, and the spectrum indicating the frequency spectrum obtained by analyzing the digital beat signal by the signal analysis means 107 during the gradual decrease period. Get information and.
- the calculation unit 108 completes the process of step S101, the calculation unit 108 advances the process to step S102.
- step S102 the calculation means 108 detects the relative speed V i for each object as described above based on the spectrum information acquired in step S101.
- the calculation unit 108 completes the process of step S102, the calculation unit 108 proceeds to step S103.
- step S103 the calculation unit 108 obtains the intensity change amount ⁇ P i corresponding to each object as described above based on the spectrum information acquired in step S101.
- the arithmetic means 108 advances the process to step S104.
- step S104 the calculation means 108 initializes the variable i for identifying the relative speed V and the fluctuation amount ⁇ P for each object to 1.
- the calculation unit 108 completes the process of step S104, the calculation unit 108 proceeds to step S105.
- step S105 the computing unit 108 determines whether or not the i-th object is an object for identifying whether it is an obstacle or a non-obstacle. Specifically, as described above, the calculation means 108 determines whether or not the absolute value of the relative speed V i associated with the i-th object exceeds a predetermined speed threshold thv. When the calculation means 108 determines that the absolute value of the relative speed V i of the i-th object exceeds the speed threshold value thv, the object is an obstacle or a non-obstacle in the next step S106. It is determined that the object is an object to be identified, and the process proceeds to step S106.
- the computing means 108 determines that the absolute value of the relative speed V i of the i-th object does not exceed the speed threshold thv, it determines whether the object is an obstacle or a non-obstacle. It is determined that the object is not the object to be identified, and the process proceeds to step S109.
- step S106 the calculation means 108 determines whether or not the i-th object determined to be an object to be identified as an obstacle or a non-obstacle in step S105 is an obstacle. Is identified. Specifically, as described above, the calculation unit 108 determines whether or not the absolute value of the intensity change amount ⁇ P i corresponding to the i-th object exceeds the fluctuation amount threshold value thp. When the calculation means 108 determines in step S106 that the absolute value of the fluctuation amount ⁇ P i of the i-th object exceeds the fluctuation amount threshold value thp, the calculation means 108 determines that the object is an obstacle, The process proceeds to S107.
- step S106 when the calculation means 108 determines in step S106 that the absolute value of the fluctuation amount ⁇ P i of the i-th object does not exceed the fluctuation amount threshold value thp, the calculation means 108 determines that the object is a non-obstacle. Then, the process proceeds to step S108.
- step S107 the calculation means 108 stores the i-th object stored in a storage unit (not shown) so as to indicate that the i-th object identified as an obstacle in step S106 is an obstacle. Turn on the obstacle flag.
- the calculation unit 108 completes the process of step S107, the calculation unit 108 proceeds to step S109. Note that the calculation means 108 turns off other flags of the i-th object that turns on the obstacle flag in step S107.
- step S108 the calculation means 108 stores the i-th object stored in a storage unit (not shown) so as to indicate that the i-th object identified as a non-obstacle in step S106 is a non-obstacle. Turn off the obstacle flag for the object.
- the calculation unit 108 completes the process of step S108, the calculation unit 108 proceeds to step S109.
- the computing unit 108 also turns off other flags that are turned on for the i-th object that turns off the obstacle flag in step S108.
- step S109 the calculation unit 108 determines that the object is an obstacle for the i-th object that is determined in step S105 as not to be immediately identified as an obstacle or a non-obstacle.
- the identification pending flag is turned on to indicate that the identification is suspended, whether it is an object or a non-obstacle. Note that the calculation means 108 turns off other flags that are turned on for the i-th object that turns on the identification hold flag in step S109.
- step S109 to turn on the identification pending flag, the relative velocity V i of the object in the object is substantially zero does not exceed a rate threshold THV, collision This is because it is considered that it is not necessary to immediately identify whether it is an obstacle or a non-obstacle.
- step S110 the calculation means 108 determines whether or not the variable i exceeds the aforementioned n in order to determine whether or not the detected n objects have been identified.
- the computing unit 108 determines that all n objects have been identified, and returns the process to step S101.
- the calculation means 108 determines in step S109 that the variable i does not exceed n, the calculation means 108 determines that all n objects have not been identified, and advances the processing to step S111.
- step S111 the calculation means 108 increments the variable i by 1 in order to identify the next object that has not identified whether the object is an obstacle or a non-obstacle among the n objects. To do.
- the calculation means 108 completes the process of step S110, the calculation means 108 returns the process to step S105, and determines whether or not the next object is an object to be identified as an obstacle or a non-obstacle. to decide.
- the calculation unit 108 determines that the object is an obstacle or a non-obstacle, and the intensity change amount ⁇ P that periodically changes.
- the object determined to be the object corresponding to is identified as an obstacle, and the object determined not to be the object corresponding to the periodically changing intensity ⁇ P is identified as a non-obstacle.
- a non-obstacle such as a stationary object on the road such that the preceding vehicle passes above the front object or the preceding vehicle exists in front of the front object. It is possible to identify whether an object existing ahead is an obstacle or a non-obstacle, without limiting the situation that can be identified.
- the calculating means 108 which concerns on 1st Embodiment shall detect at least the relative speed with the corresponding target object using the gradually increasing peak frequency and the gradually decreasing peak frequency which were combined by performing a pairing process.
- the calculation means 108 uses the gradually increasing peak frequency and the gradually decreasing peak frequency combined by performing the pairing process to detect the relative distance to the corresponding object.
- the amount of change in relative distance may be used.
- a technique for detecting the relative distance to the object based on the gradually increasing peak frequency and the gradually decreasing peak frequency is also a conventionally known technique as the above-described FM-CW method.
- the calculation means 108 can continuously detect the relative distance for each object by performing the conventionally well-known tracking process as described above for the relative distance as well.
- the calculation unit 108 determines that the change amount of the relative distance is out of a predetermined range. It can be determined that the object is an object to identify whether the object is an obstacle or a non-obstacle, and when the change in relative distance is not outside the range, the object It can be determined that the object is not an object to be identified as an object or a non-obstacle.
- the amount of change in the relative distance at this time may be a value obtained by differentiating the relative distance with respect to time for each object, or the maximum value of the relative distance in a predetermined period. It may be a difference from the minimum value.
- the calculation unit 108 calculates the absolute value of the change amount of the relative distance in advance. Compared with a predetermined distance threshold, the object whose absolute value corresponds to the relative distance of the change amount exceeding the distance threshold is an object for identifying whether it is an obstacle or a non-obstacle.
- the calculation means 108 also detects the relative distance, although not shown in the flowchart of FIG. 4, all the objects are objects to be identified as obstacles or non-obstacles. After judging whether it is an object and identifying the target object as an obstacle and a non-obstacle, the relative distance and relative speed detected for each object and whether it is an obstacle or non-obstacle Identification information indicating whether each object is present may be generated. Thereby, for example, it is determined that there is a possibility of a collision when the collision margin time is less than a predetermined time threshold value, or the alarm device that sounds an alarm to the driver or the driver is restrained.
- the collision allowance time is the time when the relative distance between the host vehicle 10 and any other vehicle such as the preceding vehicle, the following vehicle, or the oncoming vehicle travels at a relative speed with the other vehicle. Shows the time margin for collision with the vehicle.
- the collision margin time is obtained by dividing the relative distance between the host vehicle 10 and any other vehicle by the relative speed between the host vehicle 10 and the other vehicle. Further, the collision margin time may be referred to as TTC (Time To Collision).
- the calculation means 108 when the calculation means 108 also detects the relative distance, the determination is made using the relative speed and the relative distance when determining the target object for identifying whether it is an obstacle or a non-obstacle. May be. Specifically, the calculation means 108 determines that an object whose absolute value of relative speed exceeds the speed threshold thv and whose change amount of the relative distance is outside a predetermined range is an obstacle or a non-obstacle. It can be determined that it is a target for identifying whether it is an object.
- the calculation unit 108 determines an object to be identified as an obstacle or a non-obstacle, the absolute value of the relative speed detected for each object. Whether or not exceeds the speed threshold thv.
- the computing unit 108 determines an object to be identified as an obstacle or a non-obstacle, the relative speed detected for each object is determined in advance. You may make it judge whether it becomes out of the defined range. In this case, the calculation means 108 can determine an object whose relative speed is out of the range as an object to be identified as an obstacle or a non-obstacle.
- the computing means 108 can determine an object whose relative speed is not out of the range as an object that is not an object for identifying whether it is an obstacle or a non-obstacle. This reason is an obstacle when the relative speed between the host vehicle and the obstacle is substantially zero as described in the first embodiment, that is, when the amount of change in the relative distance is not outside the above range. This is because the object is mistakenly identified as a non-obstacle.
- the computing unit 108 when the computing unit 108 according to the first embodiment identifies whether an object is an obstacle or a non-obstacle, the absolute value of the intensity change amount ⁇ P corresponding to each object is calculated. It was determined whether or not the fluctuation amount threshold value thp was exceeded. However, when the computing unit 108 according to another embodiment identifies whether an object is an obstacle or a non-obstacle, an intensity change ⁇ P corresponding to each object is determined in advance. It may be determined whether or not the specified range is exceeded.
- the calculation means 108 can identify the object corresponding to the intensity of the fluctuation amount ⁇ P that is out of the range as an obstacle, and the object corresponding to the intensity of the fluctuation amount ⁇ P that is not out of the range is the non-obstacle. Can be identified.
- a transmission signal is transmitted to an object that can be regarded as an obstacle having a height from the traveling road surface to which the traveling vehicle collides. This is because the composite reflection signal having the intensity of the fluctuation amount ⁇ P that periodically changes and falls outside the range is received.
- an intensity change amount ⁇ P corresponding to each object is determined in advance. In the determined frequency determination period, it may be determined whether or not the frequency that falls outside the predetermined range is equal to or greater than a predetermined frequency threshold value. In this case, the calculation means 108 can identify the object corresponding to the intensity of the fluctuation amount ⁇ P that is out of the range at a frequency equal to or higher than the frequency threshold as an obstacle, and at a frequency that does not exceed the frequency threshold. An object corresponding to the intensity of the fluctuation amount ⁇ P that is out of the range can be identified as a non-obstacle.
- the frequency threshold is changed in the frequency judgment period by periodically changing. This is because it is considered that a composite reflected signal having the intensity of the fluctuation amount ⁇ P outside the range is received at the frequency described above.
- the computing unit 108 when the computing unit 108 according to another embodiment identifies whether an object is an obstacle or a non-obstacle, a predetermined range different from each other is determined in a predetermined period. An object corresponding to a change amount ⁇ P in intensity at which the difference in frequency obtained by comparing each becomes equal to or greater than a predetermined threshold value may be identified as an obstacle. More specifically, when the calculating means 108 identifies whether the object is an obstacle or a non-obstacle, the intensity change amount ⁇ P corresponding to each object is determined in advance. In one frequency determination period, the number of times that the frequency falls outside the predetermined first range is counted as the first frequency, and in the predetermined second frequency determination period, the frequency is smaller than the first range described above in advance.
- the calculation unit 108 corresponds to the intensity of the fluctuation amount ⁇ P that causes the frequency difference.
- the target object can be identified as an obstacle.
- the calculation means 108 is a target corresponding to the intensity of the fluctuation amount ⁇ P causing the frequency difference. Objects can be identified as non-obstacles.
- the intensity change amount ⁇ P corresponding to each object is set to the predetermined second frequency.
- the number of times that is smaller than the first range and falls within the predetermined second range may be counted as the second frequency.
- the first frequency of the intensity change ⁇ P corresponding to the object considered to be an obstacle is out of the first range
- the second frequency is in the second range, and is considered as an obstacle. Since the frequency difference between the first frequency and the second frequency calculated for the intensity change amount ⁇ P corresponding to the object to be obtained becomes large, the frequency difference is equal to or greater than the threshold value, and the object can be identified as an obstacle.
- the intensity change amount ⁇ P is determined as the first frequency in the first frequency determination period.
- the number of times that a predetermined time interval (for example, sampling time) elapses from the time when the time is out of the range to the time when the time is within the first range is counted as the first frequency, and the second frequency described above.
- the number of times that the time interval elapses from the time when it falls outside the second range to the time when it falls within the second range may be counted as the second frequency.
- the first frequency of the intensity change amount ⁇ P corresponding to the object considered to be an obstacle is increased, and the second frequency is decreased. Therefore, the frequency difference between the first frequency and the second frequency calculated for the intensity change amount ⁇ P corresponding to the object that is considered to be an obstacle is equal to or greater than the frequency difference threshold, and the object is regarded as an obstacle. Can be identified.
- the intensity change amount ⁇ P is determined as the first frequency in the first frequency determination period.
- the number of times that a predetermined time interval (for example, sampling time) elapses from the time when it falls outside the range to the time when it falls within the first range is counted as the first frequency, and the second frequency described above.
- the number of times that the time interval elapses from the time when it falls within the second range to the time when it falls outside the second range may be counted as the second frequency.
- the first frequency of the intensity change amount ⁇ P corresponding to the object considered to be an obstacle is increased, and the second frequency is decreased. Therefore, the frequency difference between the first frequency and the second frequency calculated for the intensity change amount ⁇ P corresponding to the object that is considered to be an obstacle is equal to or greater than the frequency difference threshold, and the object is regarded as an obstacle. Can be identified.
- the computing unit 108 when the computing unit 108 according to another embodiment identifies whether the object is an obstacle or a non-obstacle, the amount of change in intensity at the same time as the amount of change in relative distance at a given time. It may be determined whether the ratio with ⁇ P is equal to or greater than a predetermined ratio threshold. In this case, when the ratio of the relative distance change amount at a certain time point and the intensity change amount ⁇ P at the same time point is equal to or greater than the above-described ratio threshold value, the computing unit 108 corresponds to the intensity of the variation amount ⁇ P.
- the object can be identified as an obstacle.
- the calculation means 108 is an object corresponding to the intensity of the change amount ⁇ P. Can be identified as non-obstacles.
- the computing unit 108 when the computing unit 108 according to another embodiment identifies whether the object is an obstacle or a non-obstacle, the amount of change in intensity at the same time as the amount of change in relative distance at a given time. It may be determined whether the frequency at which the ratio with ⁇ P is equal to or greater than a predetermined ratio threshold value is equal to or greater than a predetermined frequency threshold value. In this case, when the ratio of the relative distance change amount at a certain time point and the intensity change amount ⁇ P at the same time point is equal to or higher than the ratio threshold value, the calculating unit 108 is equal to or higher than the above-described frequency threshold value. The object corresponding to the intensity of the variation ⁇ P can be identified as an obstacle.
- the calculation unit 108 does not exceed the frequency threshold value.
- the object corresponding to the intensity of the fluctuation amount ⁇ P can be identified as a non-obstacle.
- the calculation unit 108 determines the intensity of the relative distance change amount in a predetermined period.
- the difference in frequency obtained by comparing the ratio of the change amount ⁇ P and a predetermined different ratio threshold value is equal to or greater than the predetermined frequency difference threshold value, the intensity of the change amount ⁇ P is obtained.
- a corresponding object may be identified as an obstacle.
- the ratio of the intensity change amount ⁇ P to the change amount of the relative distance at the same time point is: The number of times that is equal to or higher than a predetermined first ratio threshold value in a predetermined first period is counted as a first frequency, and the above-mentioned second ratio threshold is determined in a predetermined second period. The number of times smaller than the value and equal to or greater than a predetermined second ratio threshold value is counted as the second frequency, and a frequency difference obtained by subtracting the second frequency from the first frequency is a predetermined frequency threshold. You may make it judge whether it becomes more than a value.
- the calculation means 108 obstructs the object corresponding to the intensity of the fluctuation amount ⁇ P that causes the first frequency and the second frequency that cause the frequency difference. Can be identified.
- the calculation unit 108 determines that the object corresponding to the intensity of the fluctuation amount ⁇ P causing the first frequency and the second frequency causing the frequency difference is non-disturbed. Can be identified.
- the calculation unit 108 performs the identification so that an object whose relative distance is outside a predetermined range is not an object of identification as an obstacle or a non-obstacle. You may stop.
- the reason for this is that, in the apparatus that measures the relative speed or the relative distance to the object based on the transmission signal and the reflection signal as described in the first embodiment, the reception range of the reflection signal in the vertical direction is limited. ing. Therefore, a road surface reflection signal from an object existing at a relative distance that is excessively close to the host vehicle cannot be received. Furthermore, it is difficult to accurately determine whether or not the intensity change amount ⁇ P of the composite reflected signal from the object that is present at a relative distance that is excessively far from the host vehicle fluctuates due to an error.
- the calculation means 108 detects an object that is present at a relative distance that is excessively far from the host vehicle, which may cause an erroneous determination, and a relative distance outside the above range that is an excessively close relative distance.
- the computing unit 108 may regard all objects present at relative distances outside the range as obstacles.
- the calculation means 108 differentiates the intensity obtained by averaging the gradually increasing peak intensity and the gradually decreasing peak intensity corresponding to each object with respect to time as the intensity change amount ⁇ P corresponding to the object.
- the differential value obtained was used.
- the calculation means 108 according to another embodiment may use a derivative obtained by differentiating one of the gradually increasing peak intensity and the gradually decreasing peak intensity with respect to time as the intensity change amount ⁇ P corresponding to the object. A value or the like may be used.
- the calculation means 108 uses an average value obtained by averaging each of the objects over a predetermined average period as the relative distance, relative speed, intensity, and intensity change amount ⁇ P for each object. Also good.
- the object identification device 1 having only one receiving unit 103 as the receiving unit has been described.
- the intensity change amount ⁇ P corresponding to the object is the reflected signal received by the one or more receiving units.
- a fluctuation amount ⁇ P calculated using an intensity obtained by averaging the intensity of each beat signal obtained by mixing each and the transmission signal may be used.
- an object identification device including one or more receiving means
- these receiving means are arranged in the left-right direction, and the object is detected by a conventionally known method based on the mutual phase difference of the reflected signals received by each receiving means.
- a beam is synthesized at a predetermined interval of the azimuth angle (digital beam forming), and a signal obtained by synthesizing the beam for each azimuth angle is used as a reflected signal in that direction.
- an object existing for each azimuth angle may be identified as an obstacle and a non-obstacle.
- the quantization means 106, the signal analysis means 107, and the calculation means 108 constituting the object identification device 1 according to the first embodiment are a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM ( It may be realized by the same or different ECUs (Electronic Control Units) mainly composed of Random Access Memory. In this case, the above-described storage unit (not shown) may be realized by the above-described RAM.
- the present invention can be used for an object identification device that can identify an object as an obstacle and a non-obstacle, and can be used for an object identification device mounted on a moving body such as an automobile.
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Abstract
Description
本発明の第1の局面は、送信信号と、当該送信信号が対象物で反射した反射信号とに基づき、当該対象物を識別する対象物識別装置であって、対象物との相対距離、及び相対速度の少なくともいずれか一方を測定する測定手段と、反射信号の強度を検出する強度検出手段と、相対距離の変化量、及び相対速度の少なくともいずれか一方と、強度の変化量とに基づき、障害物となる対象物を識別する対象物識別手段とを備える。
図1は、本発明の第1の実施形態に係る対象物識別装置1の概略構成を示すブロック図である。本実施形態に係る対象物識別装置1は、送信信号生成手段101と、送信手段102と、受信手段103と、混合手段104と、濾波手段105と、量子化手段106と、信号解析手段107と、演算手段108とを備える。尚、本実施形態の説明では、対象物識別装置1が自車両に搭載されているものとする。
101 送信信号生成手段
102 送信手段
103 受信手段
104 混合手段
105 濾波手段
106 量子化手段
107 信号解析手段
108 演算手段
Claims (22)
- 送信信号と、当該送信信号が対象物で反射した反射信号とに基づき、当該対象物を識別する対象物識別装置であって、
前記対象物との相対距離、及び相対速度の少なくともいずれか一方を測定する測定手段と、
前記反射信号の強度を検出する強度検出手段と、
前記相対距離の変化量、及び前記相対速度の少なくともいずれか一方と、前記強度の変化量とに基づき、障害物となる前記対象物を識別する対象物識別手段とを備える、対象物識別装置。 - 前記対象物識別手段は、
前記相対距離の変化量が予め定められた相対距離の変化量の範囲外であるか否かを判断する相対距離変化量判断手段と、
前記強度の変化量が予め定められた強度の変化量の範囲外であるか否かを判断する強度変化量判断手段と、
前記相対距離の変化量が前記相対距離の変化量の範囲外であり、且つ前記強度の変化量が前記強度の変化量の範囲外であるとき、前記対象物が障害物であると識別する障害物識別手段とを含む、請求項1に記載の対象物識別装置。 - 前記対象物識別手段は、
前記相対速度の絶対値が予め定められた速度しきい値を超えるか否かを判断する速度判断手段と、
前記強度の変化量が予め定められた強度の変化量の範囲外であるか否かを判断する強度変化量判断手段と、
前記相対速度の絶対値が前記速度しきい値以上であり、且つ前記強度の変化量が前記強度の変化量の範囲外であるとき、前記対象物が障害物であると識別する障害物識別手段とを含む、請求項1に記載の対象物識別装置。 - 前記対象物識別手段は、
前記相対距離の変化量が予め定められた相対距離の変化量の範囲外であるか否かを判断する相対距離変化量判断手段と、
前記強度の変化量が予め定められた期間において、予め定められた第1の範囲外となる頻度が予め定められた頻度しきい値以上となるか否かを判断する頻度判断手段と、
前記相対距離の変化量が前記相対距離の変化量の範囲外であり、且つ前記頻度が前記頻度しきい値以上であるとき、前記対象物が障害物であると識別する障害物識別手段とを含む、請求項1に記載の対象物識別装置。 - 前記対象物識別手段は、
前記相対速度の絶対値が予め定められた速度しきい値を超えるか否かを判断する速度判断手段と、
前記強度の変化量が予め定められた期間において、予め定められた第1の範囲外となる頻度が予め定められた頻度しきい値以上となるか否かを判断する頻度判断手段と、
前記相対速度の絶対値が前記速度しきい値以上であり、且つ前記頻度が前記頻度しきい値以上であるとき、前記対象物が障害物であると識別する障害物識別手段とを含む、請求項1に記載の対象物識別装置。 - 前記対象物識別手段は、前記相対距離の変化量が予め定められた相対距離の変化量の範囲外となり、且つ、予め定められた期間において、前記強度の変化量と予め定められた互いに異なる範囲とをそれぞれ比較することによって求めた頻度の差が予め定められたしきい値以上であるとき、前記対象物を障害物であると識別する、請求項1に記載の対象物識別装置。
- 前記対象物識別手段は、
予め定められた第1の期間において、前記強度の変化量が予め定められた第1の範囲外となる回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記強度の変化量が前記第1の範囲よりも小さく予め定められた第2の範囲外となる回数を第2の頻度として計数する第2の計数手段と、
前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項6に記載の対象物識別装置。 - 前記対象物識別手段は、
予め定められた第1の期間において、前記強度の変化量が予め定められた第1の範囲外となる回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記強度の変化量が前記第1の範囲よりも小さく予め定められた第2の範囲内となる回数を第2の頻度として計数する第2の計数手段と、
前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項6に記載の対象物識別装置。 - 前記対象物識別手段は、
予め定められた第1の期間において、前記強度の変化量が予め定められた第1の範囲外となってから当該第1の範囲内となるまでに予め定められた時間間隔が経過する回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記強度の変化量が前記第1の範囲よりも小さく予め定められた第2の範囲外となってから当該第2の範囲内となるまでに予め定められた時間間隔が経過する回数を第2の頻度として計数する第2の計数手段と、
前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項6に記載の対象物識別装置。 - 前記対象物識別手段は、
予め定められた第1の期間において、前記強度の変化量が予め定められた第1の範囲外となってから当該第1の範囲内となるまでに予め定められた時間間隔が経過する回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記強度の変化量が前記第1の範囲よりも小さく予め定められた第2の範囲内となってから当該第2の範囲外となるまでに予め定められた時間間隔が経過する回数を第2の頻度として計数する第2の計数手段と、
前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項6に記載の対象物識別装置。 - 前記対象物識別手段は、前記相対速度が予め定められた速度しきい値を超え、且つ、予め定められた期間において、前記強度の変化量と予め定められた互いに異なる範囲とそれぞれ比較することによって求めた頻度の差が予め定められたしきい値以上であるとき、前記対象物を障害物であると識別する、請求項1に記載の対象物識別装置。
- 前記対象物識別手段は、
予め定められた第1の期間において、前記強度の変化量が予め定められた第1の範囲外となる回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記強度の変化量が前記第1の範囲よりも小さく予め定められた第2の範囲外となる回数を第2の頻度として計数する第2の計数手段と、 前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項11に記載の対象物識別装置。 - 前記対象物識別手段は、
予め定められた第1の期間において、前記強度の変化量が予め定められた第1の範囲外となる回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記強度の変化量が前記第1の範囲よりも小さく予め定められた第2の範囲外となる回数を第2の頻度として計数する第2の計数手段と、
前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項11に記載の対象物識別装置。 - 前記対象物識別手段は、
予め定められた第1の期間において、前記強度の変化量が予め定められた第1の範囲外となってから当該第1の範囲内となるまでに予め定められた時間間隔が経過する回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記強度の変化量が前記第1の範囲よりも小さく予め定められた第2の範囲を超えてから当該第2の範囲内となるまでに予め定められた時間間隔が経過する回数を第2の頻度として計数する第2の計数手段と、
前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項11に記載の対象物識別装置。 - 前記対象物識別手段は、
予め定められた第1の期間において、前記強度の変化量が予め定められた第1の範囲外となってから当該第1の範囲内となるまでに予め定められた時間間隔が経過する回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記強度の変化量が前記第1の範囲よりも小さく予め定められた第2の範囲内となってから当該第2の範囲外となるまでに予め定められた時間間隔が経過する回数を第2の頻度として計数する第2の計数手段と、
前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項11に記載の対象物識別装置。 - 前記対象物識別手段は、前記相対距離の変化量が予め定められた相対距離の変化量の範囲外となり、且つ当該相対距離の変化量に対する前記強度の変化量の比率が予め定められたしきい値以上となるとき、前記対象物を障害物であると識別する、請求項1に記載の対象物識別装置。
- 前記対象物識別手段は、前記相対距離の変化量が予め定められた相対距離の変化量の範囲外となり、且つ予め定められた期間において、当該相対距離の変化量に対する前記強度の変化量の比率が予め定められた比率しきい値以上となる頻度が予め定められた頻度しきい値以上であるとき、前記対象物を障害物であると識別する、請求項1に記載の対象物識別装置。
- 前記対象物識別手段は、前記相対距離の変化量が予め定められた相対距離の変化量の範囲外となり、且つ予め定められた期間において、当該相対距離の変化量に対する前記強度の変化量の比率と予め定められた互いに異なる比率しきい値とをそれぞれ比較することによって求めた頻度の差が予め定められた頻度差しきい値以上であるとき、前記対象物を障害物として識別する、請求項1に記載の対象物識別装置。
- 前記対象物識別手段は、
予め定められた第1の期間において、前記相対距離の変化量に対する前記強度の変化量の比率が予め定められた第1の比率しきい値以上となる回数を第1の頻度として計数する第1の計数手段と、
予め定められた第2の期間において、前記相対距離の変化量に対する前記強度の変化量の比率が前記第1の比率しきい値よりも大きく予め定められた第2の比率しきい値以上となる回数を第2の頻度として計数する第2の計数手段と、
前記第1の頻度と前記第2の頻度との差を前記頻度の差として求める頻度差算出手段とを含む、請求項18に記載の対象物識別装置。 - 前記対象物識別手段は、
前記相対距離が予め定められた識別範囲外である前記対象物が障害物か非障害物かの識別を停止する停止手段を含む、請求項1に記載の対象物識別装置。 - 前記対象物識別手段は、前記相対距離が前記識別範囲外である前記対象物を障害物と見なす障害物決定手段をさらに含む、請求項20に記載の対象物識別装置。
- 送信信号と、当該送信信号が対象物で反射した反射信号とに基づき、当該対象物を識別する対象物識別方法であって、
前記対象物との相対距離、及び相対速度の少なくともいずれか一方を測定する測定ステップと、
前記反射信号の強度を検出する強度検出ステップと、
前記相対距離の変化量、及び前記相対速度の少なくともいずれか一方と、前記強度の変化量とに基づき、障害物となる前記対象物を識別する対象物識別ステップとを備える、対象物識別方法。
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