WO2013118247A1 - 物体検知装置 - Google Patents
物体検知装置 Download PDFInfo
- Publication number
- WO2013118247A1 WO2013118247A1 PCT/JP2012/052641 JP2012052641W WO2013118247A1 WO 2013118247 A1 WO2013118247 A1 WO 2013118247A1 JP 2012052641 W JP2012052641 W JP 2012052641W WO 2013118247 A1 WO2013118247 A1 WO 2013118247A1
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- Prior art keywords
- detection
- threshold value
- vehicle
- threshold
- moving object
- Prior art date
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- 238000001514 detection method Methods 0.000 title claims abstract description 256
- 230000002093 peripheral effect Effects 0.000 claims description 13
- 238000003384 imaging method Methods 0.000 claims description 3
- 230000004075 alteration Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 28
- 230000035945 sensitivity Effects 0.000 description 13
- 238000012806 monitoring device Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 238000012544 monitoring process Methods 0.000 description 9
- 230000007423 decrease Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
Definitions
- the present invention relates to an object detection device.
- Such a device requires peripheral monitoring when the host vehicle is moving backwards (in / out, parking, handling), and when the vehicle is moving forward (in / out, parking, handling) with poor visibility. In such a situation, it is necessary to detect and notify a distant moving object while stopping, and to detect and notify a surrounding moving object while moving.
- the present invention intends to provide an object detection device capable of suppressing erroneous detection of a moving object during movement.
- the present invention is intended to provide an object detection device capable of suppressing erroneous notification accompanying this erroneous detection.
- the object detection apparatus includes an object detection unit that detects a moving object around the vehicle, and a threshold change unit that changes a detection threshold when detecting the moving object based on the movement information of the vehicle.
- the detection threshold for detecting a moving object is changed based on the movement information of the vehicle.
- the threshold value changing unit may change the detection threshold value stepwise based on a comparison between the movement information and a reference value related to the movement information.
- the object detection unit may detect a moving object based on a peripheral image input from an imaging device that captures a peripheral image of the vehicle.
- the threshold value changing unit may change the detection threshold value so that the moving object becomes difficult to detect as the speed increases. Thereby, misdetection can be suppressed during the movement of the own vehicle.
- the threshold value changing unit may change the detection threshold value so that the moving object becomes difficult to detect as the steering angle increases. Thereby, it is possible to suppress erroneous detection while the host vehicle is turning.
- the threshold value changing unit may change the detection threshold value so that the moving object becomes difficult to detect as the angular velocity of the steering angle increases. Thereby, false detection can be suppressed during the high-speed turning of the own vehicle.
- the threshold value changing unit may change the detection threshold value so that the moving object is easily detected only when the setting condition regarding the speed or the steering angle is satisfied. Thereby, the unnecessary change of a detection threshold value can be suppressed.
- the threshold value changing unit may directly change the detection threshold value from the first value to the second value when a condition for changing the detection threshold value from the first value to the second value in a stepwise manner is satisfied. . Thereby, the non-detection at the time of changing a detection threshold value can be suppressed.
- the threshold value changing unit may not change the detection threshold value until the vehicle is completely stopped when the condition for changing the detection threshold value to the threshold value at which the moving object is most easily detected is satisfied. Thereby, the erroneous detection by knocking accompanying the braking before a stop can be suppressed.
- the object detection device may further include a detection notification unit that notifies the detection result of the moving object, and a notification control unit that stops the notification of the detection result when the speed is higher than the notification reference value.
- the notification control unit stops the detection result notification, the notification control unit does not have to restart the detection result notification until the vehicle completely stops for a set time. Thereby, unnecessary notification can be suppressed.
- the detection notification unit may further notify a detection result notification execution state.
- the driver can confirm the notification execution state and avoid an erroneous operation.
- the present invention it is possible to provide an object detection device that can suppress erroneous detection of a moving object during movement. Moreover, according to this invention, the object detection apparatus which can suppress the misreporting accompanying this misdetection can be provided.
- the object detection device according to the first embodiment suppresses erroneous detection of a moving object while the vehicle is moving by changing a detection threshold when detecting the moving object based on the movement information of the vehicle. It is a device that can.
- FIG. 1 is a block diagram illustrating a configuration of a vehicle periphery monitoring device including an object detection device according to the first embodiment.
- the vehicle periphery monitoring apparatus according to the first embodiment includes a camera 2, an ECU 10 (Electronic Control Unit), and a monitor 3.
- ECU 10 Electronic Control Unit
- the camera 2 constitutes an imaging device that captures an image around the vehicle 1.
- the camera 2 is an in-vehicle camera such as a front camera that captures a front image, a rear camera that captures a rear image, and a side camera that captures a side image.
- the ECU10 is a vehicle-mounted controller which has CPU, ROM, RAM, etc.
- the ECU 10 includes a movement information acquisition unit 11, an object detection unit 12, a threshold change unit 13, and a detection notification unit 14. These components 11 to 14 constitute the object detection device according to the first embodiment.
- the components 11 to 14 are realized by software executed by the ECU 10. Note that the components 11 to 14 may be distributed and arranged in a plurality of ECUs or the like.
- the movement information acquisition unit 11 acquires movement information such as the speed V, acceleration, steering angle S, steering angular angular speed W, shift position, blinker position, presence / absence of brake operation, and brake operation amount of the vehicle 1.
- the movement information is acquired from a wheel speed sensor, a steering angle sensor, a shift position sensor, a winker position sensor, a brake pedal operation sensor, and the like.
- the object detection unit 12 detects a moving object around the vehicle 1.
- a peripheral image corresponding to the moving direction of the vehicle 1, that is, a front image when moving forward, a rear image when moving backward, and a left and right side image when turning left and right are input to the object detection unit 12.
- the moving direction of the vehicle 1 is determined based on movement information such as a steering angle S, a shift position, and a winker position, or travel route guidance information input from a navigation device (not shown).
- the moving object is detected based on a peripheral image captured by the camera 2, for example.
- the moving object is detected by performing a pattern matching process on the peripheral image, for example.
- the moving object is detected according to a variable detection threshold T or detection sensitivity. For example, the lower the detection threshold T or the higher the detection sensitivity, the more easily the moving object is detected.
- the threshold value changing unit 13 changes the detection threshold value T when detecting a moving object based on the movement information of the vehicle 1.
- the detection threshold T is changed based on, for example, the speed V and the steering angle S acquired by the movement information acquisition unit 11 (see FIG. 2).
- the threshold value changing unit 13 changes the detection threshold value T so that the moving object becomes difficult to detect as the speed V increases or the steering angle S increases.
- the detection threshold T is changed so that a moving object is less likely to be detected when the speed V is greater than the speed reference value Vt compared to when the speed V is smaller than the reference value Vt.
- the detection threshold T is changed so that a moving object is less likely to be detected than when the steering angle S is smaller than the reference value St. That is, in the present embodiment, the detection threshold T is changed stepwise based on the comparison between the movement information of the vehicle 1 and the reference value of the movement information.
- the detection threshold value T may be continuously changed based on a predetermined relationship between the movement information of the vehicle 1 and the detection threshold value T, without being compared with the reference value.
- FIG. 2 is a diagram illustrating an example of a detection threshold T used for detecting a moving object.
- the detection threshold T is divided into first to fourth thresholds T1 to T4, for example, in order of decreasing detection threshold T or in descending order of detection sensitivity.
- the first threshold value T1 is a threshold value applied when a moving object is detected when the speed V is less than the speed reference value Vt1, that is, while the vehicle 1 is almost stopped, as indicated by a region A1 in FIG. T.
- the speed reference value Vt1 is set to about 0 km / h.
- the first threshold value T1 is set so that the detection sensitivity is the highest compared to the other threshold values T because no false detection due to movement or turning occurs during the stop. That is, the threshold T is set so that the moving object is more easily detected in the area A1 than in the other areas A2 to A4. Further, the first threshold value T1 is set regardless of the steering angle S so that a distant approaching vehicle 1 can be detected even when the steering angle S is increased during a stop.
- the second threshold T2 is a case where the speed V is equal to or higher than the speed reference value Vt1 and the steering angle S (absolute value) is less than the first steering angle reference value St1, as indicated by a region A2 in FIG. That is, the threshold value T is applied when a moving object is detected while the host vehicle 1 is traveling straight.
- the first steering angle reference value St1 is set to a value of about 0 ° for each left and right turning direction, for example.
- the second threshold value T2 is set so that the detection sensitivity is lower than the first threshold value T1, since erroneous detection due to movement may occur while straight detection does not cause erroneous detection due to turning. That is, the threshold T is set so that the moving object is less likely to be detected in the area A2 than in the area A1.
- the third threshold value T3 is such that the speed V is equal to or higher than the speed reference value Vt1, the steering angle S (absolute value) is equal to or higher than the first steering angle reference value St1,
- the threshold value T is applied when a moving object is detected when the vehicle 1 is smaller than the steering angle reference value St2, ie, when the host vehicle 1 is small and turning.
- the second steering angle reference value St2 is set to an arbitrary value of about 0 ° or more and less than about 45 ° for each of the left and right turning directions.
- the third threshold value T3 is set so that the detection sensitivity is lower than the second threshold value T2, since erroneous detection due to turning may occur during a small turn. That is, the threshold T is set so that the moving object is less likely to be detected in the area A3 than in the area A2.
- the fourth threshold value T4 is such that the speed V is equal to or greater than the speed reference value Vt1, the steering angle S (absolute value) is equal to or greater than the second steering angle reference value St2,
- the threshold value T is applied when the moving object is detected when the vehicle 1 is less than the steering angle reference value St3, that is, when the host vehicle 1 is turning significantly.
- the third steering angle reference value St3 is set to an arbitrary value of, for example, about 45 ° or more and less than about 90 ° for each of the left and right turning directions.
- the fourth threshold value T4 is set so that the detection sensitivity is lower than the third threshold value T3 because erroneous detection due to turning is very likely to occur during a large turn. That is, the threshold T is set so that the moving object is less likely to be detected in the area A4 than in the area A3.
- the threshold changing unit 13 may change the detection threshold T by a different method depending on whether the detection threshold T is increased or decreased from the current threshold T. Note that the current detection threshold value T is held in a memory or the like by the threshold value changing unit 13.
- the detection threshold T when the detection threshold T is increased from the current threshold T, that is, when the detection sensitivity is lowered, the detection threshold T is basically changed based on the speed V and the operation angle S of the vehicle 1. For example, in the example illustrated in FIG. 2, when the state of the vehicle 1 transitions from stop to straight travel, the detection threshold T is changed from the first threshold T1 to the second threshold T2.
- the detection threshold T is exceptionally changed so that it is difficult to detect a moving object when the angular velocity W of the steering angle S is larger than the angular velocity reference value Wt.
- the detection threshold T is changed so that the moving object becomes difficult to detect as the angular velocity W of the steering angle S increases.
- the angular velocity reference value Wt (Wt1, Wt2 described later) is set stepwise as an arbitrary value of, for example, 10 ° / s or more, particularly 30 ° / s or more.
- the detection threshold T is changed from the first threshold T1 to the fourth threshold T4 instead of the third threshold T3. Be changed.
- the detection threshold T when the detection threshold T is decreased from the current threshold T (when the detection sensitivity is increased) or when the turning direction of the vehicle 1 is reversed, the detection threshold T relates to the speed V or the steering angle S as shown below. It is changed only when the setting condition is satisfied.
- the setting condition is that the steering angle S is less than a reference value smaller than the second steering angle reference value St2.
- the setting condition is that the steering angle S is less than the reference value smaller than the second steering angle reference value St2.
- the setting condition for determining the transition to a small turn on the reverse side may be set to 45 ° (reverse side).
- the turn on the reverse side means a turn from a right turn to a left turn or a turn in the opposite direction with reference to a state in which the handle is straightened.
- the detection threshold T is changed from the third threshold T3 to the inversion-side third threshold T3 when the set condition is satisfied.
- the setting condition is that the steering angle S is less than a reference value smaller than the third steering angle reference value St3.
- the detection threshold T is changed from the fourth threshold T4 to the third threshold T3 on the inversion side when the set condition is satisfied.
- the setting condition is that the steering angular angular velocity W is equal to or higher than the angular velocity reference value Wt.
- the detection threshold T is changed from the fourth threshold T4 to the inversion-side fourth threshold T4 when the set condition is satisfied.
- the setting condition is that the speed V becomes 0 km / h over a predetermined time, that is, the vehicle 1 is completely stopped.
- the detection threshold T is changed from the fourth threshold T4, the third threshold T3, or the second threshold T2 to the first threshold T1 when the set condition is satisfied.
- the detection notification unit 14 notifies the driver or the like of the detection result of the moving object.
- the detection result is displayed on the monitor 3 for the navigation device or mounted on the instrument panel.
- the detection result is displayed together with the surrounding image of the vehicle 1 by emphasizing the display area of the moving object, for example.
- the detection result may be notified through other notification means such as a speaker (not shown).
- FIG. 3 is a flowchart showing the operation of the vehicle periphery monitoring device according to the first embodiment.
- the vehicle periphery monitoring apparatus repeatedly executes the process shown in FIG. 3 (including the processes shown in FIGS. 4 to 7) at predetermined intervals.
- a peripheral image corresponding to the moving direction of the vehicle 1 is input to the object detection unit 12 (step S11).
- Movement information such as the speed V and the steering angle S of the vehicle 1 is input to the threshold changing unit 13 (step S12).
- the threshold value changing unit 13 changes the detection threshold value T when detecting a moving object based on the movement information (step S13).
- the object detection unit 12 detects a moving object based on the surrounding image according to the detection threshold T (step S14).
- the object detection unit 12 determines whether or not a moving object is detected (step S15).
- the detection notification unit 14 displays the detection result on the monitor 3 together with the peripheral image (step S16).
- the detection notification unit 14 displays only the peripheral image on the monitor 3 (step S17).
- FIG. 4 to 9 are diagrams showing details of the detection threshold value T changing process (step S13) when the detection threshold value T shown in FIG. 2 is used.
- the threshold value changing unit 13 determines the detection threshold value T currently set, that is, the detection threshold value T that has been previously set or changed, and changes the detection threshold value T as necessary based on the result.
- FIG. 4 is a flowchart showing a process of changing the detection threshold T during the stop.
- FIG. 4 shows a case where the current threshold value T is set to the first threshold value T1, that is, the threshold value T applied when a moving object is detected during a stop (in the case of Yes in step S21). Yes.
- the threshold value changing unit 13 determines whether or not the speed V is less than the speed reference value Vt1, that is, whether or not the own vehicle 1 is stopped (step S22). If it is determined that the host vehicle 1 is stopped, the threshold value T does not need to be changed, and the process moves to step S14.
- the threshold value changing unit 13 determines whether or not the steering angular angular velocity W is less than the first angular velocity reference value Wt1 (step S23). When it is determined that the steering angular angular velocity W is less than the first angular velocity reference value Wt1, the threshold changing unit 13 further determines whether or not the steering angle S is less than the first steering angle reference value St1 ( Step S24).
- the threshold changing unit 13 T is changed to the second threshold value T2, that is, the threshold value T during straight travel (step S25).
- the threshold changing unit 13 determines whether the steering angular angular velocity W is less than the second angular velocity reference value Wt2. It is determined whether or not (step S26). When it is determined that the steering angular velocity W is less than the second angular velocity reference value Wt2, or when it is not determined in step S24 that the steering angle S is less than the first steering angle reference value St1, the threshold value is changed. The unit 13 determines whether or not the steering angle S is less than the second steering angle reference value St2 (step S27). When it is determined that the steering angle S is less than the second steering angle reference value St2, the threshold value changing unit 13 changes the threshold value T to the third threshold value T3, that is, the threshold value T during a small turn (step) S28).
- step S26 determines whether or not the steering angle S is less than the second angular velocity reference value Wt2, or it is determined in step S27 that the steering angle S is less than the second steering angular reference value St2. If not, the threshold value changing unit 13 determines whether or not the steering angle S is less than the third steering angle reference value St3 (step S29). When it is determined that the steering angle S is less than the third steering angle reference value St3, the threshold value changing unit 13 changes the threshold value T to the fourth threshold value T4, that is, the threshold value T during a large turn (step). S30). If it is not determined that the steering angle S is less than the third steering angle reference value St3, the threshold value T is not changed and the process proceeds to step S14.
- FIG. 5 is a flowchart showing a process of changing the detection threshold T during straight traveling.
- FIG. 5 shows a case where the current threshold value T is set to the second threshold value T2, that is, the threshold value T applied when detecting a moving object while going straight (in the case of Yes in step S31). Yes.
- the threshold value changing unit 13 determines whether or not the own vehicle 1 has been stopped for a predetermined time (step S32). When it is determined that the host vehicle 1 has been stopped for a predetermined time, the threshold changing unit 13 changes the threshold T to the first threshold T1, that is, the stopped threshold T (step S33). Then, the process proceeds to step S14.
- the threshold value changing unit 13 determines whether or not the steering angular velocity W is less than the first angular velocity reference value Wt1 (Ste S34). When it is determined that the steering angular angular velocity W is less than the first angular velocity reference value Wt1, the threshold changing unit 13 further determines whether or not the steering angle S is less than the first steering angle reference value St1 ( Step S35). If it is determined in step S34 that the steering angular angular velocity W is less than the first angular velocity reference value Wt1, and it is determined in step S35 that the steering angular S is less than the first steering angular reference value St1. Since the threshold value T need not be changed, the process proceeds to step S14.
- the threshold changing unit 13 determines whether the steering angular angular velocity W is less than the second angular velocity reference value Wt2. It is determined whether or not (step S36). When it is determined that the steering angular velocity W is less than the second angular velocity reference value Wt2, or when it is not determined in step S35 that the steering angle S is less than the first steering angle reference value St1, the threshold value is changed. The unit 13 determines whether or not the steering angle S is less than the second steering angle reference value St2 (step S37). When it is determined that the steering angle S is less than the second steering angle reference value St2, the threshold value changing unit 13 changes the threshold value T to the third threshold value T3, that is, the threshold value T during a small turn (step) S38).
- step S36 when it is not determined in step S36 that the steering angular angular velocity W is less than the second angular velocity reference value Wt2, it is determined in step S37 that the steering angular S is less than the second steering angle reference value St2. If not, the threshold value changing unit 13 determines whether or not the steering angle S is less than the third steering angle reference value St3 (step S39). When it is determined that the steering angle S is less than the third steering angle reference value St3, the threshold value changing unit 13 changes the threshold value T to the fourth threshold value T4, that is, the threshold value T during a large turn (step). S40). If it is not determined that the steering angle S is less than the third steering angle reference value St3, the threshold value T is not changed and the process proceeds to step S14.
- FIG. 6 is a flowchart showing a process for changing the detection threshold T during a small turn.
- FIG. 6 shows a case where the current threshold value T is set to the third threshold value T3, that is, the threshold value T applied when detecting a moving object during a small turn (in the case of Yes in step S41). ing.
- the threshold value changing unit 13 determines whether or not the own vehicle 1 has been stopped for a predetermined time (step S42). When it is determined that the host vehicle 1 has been stopped for a predetermined time, the threshold changing unit 13 changes the threshold T to the first threshold T1, that is, the stopped threshold T (step S43). Then, the process proceeds to step S14.
- step S44 determines whether or not the steering angle S has been reversed.
- the threshold changing unit 13 determines whether the steering angular velocity W is less than the second angular velocity reference value Wt2 (step S45).
- the threshold value changing unit 13 determines whether or not the steering angle S is less than the second steering angle reference value St2 on the reverse side. (Step S46). In step S44, it is determined that the steering angle S has been reversed.
- step S45 it is determined that the steering angular velocity W is less than the second angular velocity reference value Wt2, and in step S46, the steering angle S is reversed.
- the threshold value changing unit 13 changes the threshold value T to the third threshold value T3 on the reverse side, that is, the threshold value T during the small turn on the reverse side (step) S47).
- step S45 If it is not determined in step S45 that the steering angular angular velocity W is less than the second angular velocity reference value Wt2, or if the steering angle S is less than the second steering angle reference value St2 on the reverse side in step S46.
- the threshold value changing unit 13 changes the threshold value T to the fourth threshold value T4 on the reverse side, that is, the threshold value T during the large turn on the reverse side (step S48).
- the threshold changing unit 13 determines whether the steering angle S is less than the third steering angle reference value St3 (step S49). . When it is determined that the steering angle S is less than the third steering angle reference value St3, the threshold value changing unit 13 changes the threshold value T to the fourth threshold value T4, that is, the threshold value T during a large turn (step). S50). If it is not determined that the steering angle S is less than the third steering angle reference value St3, the threshold value T is not changed and the process proceeds to step S14.
- FIG. 7 is a flowchart showing the detection threshold value T changing process during a large turn.
- FIG. 7 shows a case where the current threshold value T is set to the fourth threshold value T4, that is, the threshold value T applied when a moving object is detected during a large turn (in the case of Yes in step S51). ing.
- the threshold value changing unit 13 determines whether or not the own vehicle 1 has been stopped for a predetermined time (step S52). When it is determined that the host vehicle 1 has been stopped for a predetermined time, the threshold value changing unit 13 changes the threshold value T to the first threshold value T1, that is, the stopped threshold value T (step S53). Then, the process proceeds to step S14.
- the threshold value changing unit 13 determines whether or not the steering angle S has been reversed (step S54). When it is determined that the steering angle S is reversed, the threshold changing unit 13 determines whether or not the steering angle S is less than the third steering angle reference value St3 on the reversing side (step S55). If it is determined in step S54 that the steering angle S has been reversed and it is determined in step S55 that the steering angle S is less than the reverse third steering angle reference value St3, the threshold value changing unit 13 The threshold value T is changed to the fourth threshold value T4 on the reverse side, that is, the threshold value T during the large turn on the reverse side (step S56).
- step S51 if it is not determined in step S51 that the current threshold value T is set to the fourth threshold value T4, if it is not determined in step S54 that the steering angle S is reversed, or in step S55. If it is not determined that the steering angle S is less than the third steering angle reference value St3 on the reverse side, the threshold value T is not changed and the process proceeds to step S14.
- FIG. 8 is a diagram illustrating a change state of the detection threshold T at the time of reverse leaving.
- the movement information speed V (FIG. 8 (b), steering angle S (FIG. 8 (c))
- the behavior FIG. 8 (a)) of the host vehicle 1 at the time of reverse leaving is 7
- the steering wheel is slightly turned to the left side in a substantially stopped state
- the vehicle 1 is in a state where the handle is turned to the left side.
- the vehicle 1 slightly moves backward while the handle is turned to the right, and the handle is slightly turned to the right in the third stage P3, and the handle is further moved to the right in the fourth stage P4.
- the host vehicle 1 gradually stops while the steering wheel is returned straight back, and in the sixth stage P6, the steering wheel is returned straight back.
- the own vehicle 1 stops for a predetermined time.
- the detection threshold T is set to the first threshold T1 in the first stage P1, and the second threshold P2 in the second stage P2, as shown in FIG.
- the threshold value T2 is changed to the third threshold value T3 in the third stage P3, and the fourth threshold value T4 is changed in the fourth stage P4.
- the detection threshold T gradually increases or the detection sensitivity gradually decreases.
- the detection threshold T is changed to the third threshold T3 in the fifth stage P5 and the first threshold T1 in the sixth stage P6 based on the movement information.
- the detection threshold T gradually decreases or the detection sensitivity gradually increases. For this reason, the detection threshold T is maintained at the fourth threshold T4 in the fifth stage P5 and the sixth stage P6, and the seventh stage P7, that is, the time when the host vehicle 1 completely stops.
- the threshold value T1 is changed to 1. Accordingly, it is possible to suppress undetected when changing the detection threshold and to suppress erroneous detection due to knocking accompanying braking before stopping.
- FIG. 9 is a diagram showing a change state of the detection threshold T at the time of backward entry.
- the movement information speed V (FIG. 9 (b), steering angle S (FIG. 9 (c))
- the behavior indicating the behavior (FIG. 9 (a)) of the host vehicle 1 at the time of reverse warehousing is 13.
- the steering wheel is largely cut to the right side to a certain extent in the first stage P1
- the second stage P2 the host vehicle 1 is in a state where the handle is cut to the right side.
- the own vehicle 1 continues to move backward while the handle is turned from the right side to the left side, and in the fourth stage P4, the own vehicle 1 is kept in a state where the handle is turned to the left side to some extent.
- the host vehicle 1 moves backward greatly with the handle largely cut to the left, and in the sixth stage P6, the host vehicle 1 slowly moves while the handle is slightly returned. fall back.
- the host vehicle 1 in order to confirm the distance from the obstacle or the like, the host vehicle 1 almost stops with the steering wheel maintained.
- the host vehicle 1 slightly moves backward while the handle is returned.
- the host vehicle 1 is largely retracted while the steering wheel is returned straight.
- the host vehicle 1 In the tenth stage P10, the host vehicle 1 almost stops with the steering wheel maintained for confirmation again.
- the eleventh stage P11 the host vehicle 1 largely moves backward with the steering wheel returned straight.
- the host vehicle 1 stops for a predetermined time.
- the detection threshold T is set to the first threshold T1 in the first stage P1, and the third threshold in the second stage P2, as shown in FIG. 9 (d).
- the threshold value T3 is changed.
- the detection threshold T is normally changed to the second threshold T2 in the third stage P3 based on the movement information.
- the detection threshold T is changed to the inversion-side third threshold T3 in the fourth stage P4, and the inversion-side fourth threshold T4 in the fifth stage P5.
- the detection threshold T is normally the third threshold T3 on the inversion side in the sixth stage P6, the first threshold T1 in the seventh stage P7, and the eighth stage P8 based on the movement information.
- the first threshold value T1 is changed.
- the detection threshold T decreases or the detection sensitivity increases. For this reason, as shown in FIG. 9D, the detection threshold T is changed to the reverse-side third threshold T3 when the steering angle S becomes less than the first steering angle reference value St1. In addition, from the sixth stage P6 to the twelfth stage P12, the detection threshold T decreases or the detection sensitivity increases. For this reason, as shown in FIG. 9 (d), the detection threshold T is held at the fourth threshold T4 from the sixth stage P6 to the twelfth stage P12. When the vehicle 1 is completely stopped, the first threshold value T1 is changed. Accordingly, it is possible to suppress undetected when changing the detection threshold and to suppress erroneous detection due to knocking accompanying braking before stopping.
- the detection threshold T when detecting a moving object is changed based on the movement information of the vehicle.
- the detection threshold T by changing the detection threshold T so that a moving object is difficult to be detected while the host vehicle 1 is moving, particularly during a turn, erroneous detection can be suppressed even in situations where erroneous detection is likely to occur.
- an unnecessary change in the detection threshold T can be suppressed by changing the detection threshold T so that the moving object is easily detected only when the setting condition regarding the speed V or the steering angle S is satisfied.
- the detection threshold T can be directly changed from the first value to the second value. It is possible to suppress the non-detection when changing.
- the detection threshold T is not changed until the host vehicle 1 is completely stopped. False detection can be suppressed.
- the object detection device according to the second embodiment can suppress false notifications associated with erroneous detection during movement of the host vehicle by changing the execution state of notification of detection results based on vehicle movement information. It is a device that can.
- the description which overlaps with 1st Embodiment is abbreviate
- FIG. 10 is a block diagram illustrating a configuration of a vehicle periphery monitoring device including the object detection device according to the second embodiment.
- the vehicle periphery monitoring device also includes a camera 2, an ECU 20, and a monitor 3.
- the ECU 20 includes a notification control unit 21 in addition to the movement information acquisition unit 11, the object detection unit 12, the threshold change unit 13, and the detection notification unit 14.
- These constituent elements 11 to 14 and 21 constitute an object detection apparatus according to the second embodiment.
- the notification control unit 21 changes the execution state of the notification of the detection result by the detection notification unit 14.
- the notification control unit 21 stops the notification of the detection result.
- the notification control unit 21 does not restart the notification of the detection result until the speed V reaches 0 km / h over the set time, that is, until the vehicle 1 is completely stopped.
- the notification control unit 21 may change the execution state of the notification of the detection result in consideration of the acceleration condition together with the speed V.
- FIG. 11 is a flowchart showing the operation of the vehicle periphery monitoring apparatus according to the second embodiment.
- the vehicle periphery monitoring apparatus repeatedly executes the process shown in FIG. 11 (including the process shown in FIG. 12) at predetermined intervals.
- the description of steps S11 to S15 overlaps with the description of FIG.
- step S15 when it is determined in step S15 whether or not a moving object is detected, the notification control unit 21 detects based on the movement information, as will be described later with reference to FIG.
- the execution state of the result notification is changed (step S61, step S65).
- step S15 If it is determined in step S15 that a moving object is detected and it is determined in step S62 that the execution state is set to “actuated (executed)”, the surrounding image, the detection result, and the operating state are displayed. An indicator is displayed (step S63). On the other hand, if it is determined in step S62 that the execution state is set to “non-operation (stop)”, a peripheral image and an indicator indicating that the operation is not being performed are displayed (step S64).
- step S15 If it is not determined in step S15 that a moving object is detected, and it is determined in step S66 that the execution state is set to “actuated (executed)”, the surrounding image and an indicator indicating that the object is in operation are displayed. Is displayed (step S67). On the other hand, if it is determined in step S66 that the execution state is set to “non-operation (stop)”, a peripheral image and an indicator indicating that the operation is not being performed are displayed (step S68).
- FIG. 12 is a diagram illustrating processing (steps S61 and S65) for changing the execution state of the notification of the detection result.
- the notification control unit 21 determines the current execution state, and changes the execution state as necessary based on the determination result.
- step S71 when it is determined in step S71 that the execution state is currently set to “actuated”, the notification control unit 21 determines whether or not the speed V is less than the notification reference value Vt2. Determination is made (step S72). When it is determined that the speed V is less than the notification reference value Vt2, the process proceeds to step S62 or S66. When the speed V is not determined to be less than the notification reference value Vt2, the notification control unit 21 The execution state is changed to “inactive” (step S73).
- step S71 when it is determined in step S71 that the execution state is currently set to “inactive”, the notification control unit 21 determines whether the speed V is 0 for a predetermined time, that is, the host vehicle 1 is It is determined whether or not it is completely stopped (step S74). When it is determined that the speed V is 0 for a predetermined time, the notification control unit 21 changes the execution state to “actuated” (step S75), while the speed V is 0 for the predetermined time. If it is not determined, the process proceeds to step S62 or S66.
- FIG. 13 shows a change state of the execution state at the time of reverse leaving.
- movement information speed V (FIG. 13 (b))
- the backward exit is started, and the detection result notification execution state is “actuated” while the vehicle 1 is moving at a speed V lower than the notification reference value Vt2. ”And the notification of the detection result is executed.
- the second stage P2 since the speed V exceeds the notification reference value Vt2 and erroneous detection is likely to occur, the execution state is changed to “inactive” and the notification of the detection result is stopped. Thereby, the false notification accompanying the false detection during movement is suppressed.
- the speed V returns to less than the notification reference value Vt2 just before the end of the backward exit, the execution state is changed to “actuated”, and the notification of the detection result is resumed.
- FIG. 14 shows a change state of the execution state at the time of reverse warehousing. Also in the example shown in FIG. 14, movement information (speed V (FIG. 14B)) indicating a change in behavior (speed V) of the vehicle 1 (FIG. 14A) is shown. In addition, since description of the behavior of the own vehicle 1 overlaps with description of FIG. 9, it abbreviate
- the object detection device of the second embodiment of the present invention when the speed V is larger than the notification reference value Vt2, the detection result is stopped and the movement of the host vehicle 1 is stopped. It is possible to suppress false notifications accompanying false detection inside.
- the driver can check the execution state of the notification and avoid an erroneous operation.
- the above-described embodiment describes the best embodiment of the object detection device according to the present invention, and the object detection device according to the present invention is not limited to the one described in this embodiment. .
- the object detection device according to the present invention may be obtained by modifying the object detection device according to the present embodiment or applying it to other devices without departing from the gist of the invention described in each claim.
- the present invention provides a program for suppressing erroneous detection of a moving object during movement or suppressing erroneous notification accompanying this erroneous detection according to the above-described method, or a computer reading storing the program. The same applies to possible recording media.
- the case where a moving object is detected based on the surrounding image of the vehicle 1 has been described.
- the moving object may be detected based on a detection result such as a millimeter wave sensor or a laser sensor.
- a detection result such as a millimeter wave sensor or a laser sensor.
- the case where the four threshold values T1 to T4 are set as the detection threshold T has been described, but a threshold value T of less than four or five or more may be set.
- the case where the threshold values T3 and T4 are set as the same value during the left turn and the right turn has been described. It may be set.
Abstract
Description
Claims (12)
- 車両の周辺の移動物体を検知する物体検知部と、
前記車両の移動情報に基づいて、前記移動物体を検知する際の検知閾値を変更する閾値変更部と、
を備える物体検知装置。 - 前記閾値変更部は、前記車両の速度が大きいほど前記移動物体が検知され難くなるように、前記検知閾値を変更する、請求項1に記載の物体検知装置。
- 前記閾値変更部は、前記車両の操舵角が大きいほど前記移動物体が検知され難くなるように、前記検知閾値を変更する、請求項1または2に記載の物体検知装置。
- 前記閾値変更部は、前記車両の操舵角の角速度が大きいほど前記移動物体が検知され難くなるように、前記検知閾値を変更する、請求項1~3のいずれか一項に記載の物体検知装置。
- 前記閾値変更部は、前記移動情報と前記移動情報に関する基準値との比較に基づいて、前記検知閾値を段階的に変更する、請求項1~4のいずれか一項に記載の物体検知装置。
- 前記閾値変更部は、前記速度または前記操舵角に関する設定条件が満たされる場合にのみ、前記移動物体が検知され易くなるように前記検知閾値を変更する、請求項1~5のいずれか一項に記載の物体検知装置。
- 前記閾値変更部は、前記検知閾値を第1の値から第2の値に段階的に変更する条件が満たされる場合、前記検知閾値を前記第1の値から前記第2の値に直接変更する、請求項6に記載の物体検知装置。
- 前記閾値変更部は、前記検知閾値を前記移動物体が最も検知され易くなる閾値に変更する条件が満たされる場合、前記車両が完全に停止するまで前記検知閾値を変更しない、請求項6または7に記載の物体検知装置。
- 前記移動物体の検知結果を報知する検知報知部と、
前記速度が報知基準値よりも大きい場合、前記検知結果の報知を停止させる報知制御部と、
をさらに備える、請求項1~8のいずれか一項に記載の物体検知装置。 - 前記報知制御部は、前記検知結果の報知を停止させると、前記車両が設定時間に亘って完全に停止するまで、前記検知結果の報知を再開させない、請求項9に記載の物体検知装置。
- 前記検知報知部は、さらに前記検知結果の報知の実行状態を報知する、請求項9または10に記載の物体検知装置。
- 前記物体検知部は、前記車両の周辺画像を撮像する撮像装置から入力される周辺画像に基づいて前記移動物体を検知する、請求項1~11のいずれか一項に記載の物体検知装置。
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IN6552DEN2014 IN2014DN06552A (ja) | 2012-02-06 | 2012-02-06 | |
CN201280069068.4A CN104169991A (zh) | 2012-02-06 | 2012-02-06 | 物体检测装置 |
PCT/JP2012/052641 WO2013118247A1 (ja) | 2012-02-06 | 2012-02-06 | 物体検知装置 |
EP12867920.6A EP2814016A4 (en) | 2012-02-06 | 2012-02-06 | OBJECT DETECTION DEVICE |
JP2013557271A JP5850066B2 (ja) | 2012-02-06 | 2012-02-06 | 物体検知装置 |
US14/376,637 US20150009330A1 (en) | 2012-02-06 | 2012-02-06 | Object detection device |
RU2014132347A RU2014132347A (ru) | 2012-02-06 | 2012-02-06 | Устройство обнаружения объекта |
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JP (1) | JP5850066B2 (ja) |
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CN104169991A (zh) | 2014-11-26 |
JPWO2013118247A1 (ja) | 2015-05-11 |
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US20150009330A1 (en) | 2015-01-08 |
EP2814016A4 (en) | 2016-05-25 |
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