DE69632021D1 - Vorrichtung zum Bestimmen und Korrigieren der Ablenkung der Hauptachse in einer Fahrzeug-Hinderniserkennungsvorrichtung, und System zum Regeln des Abstandes zu einem vorausfahrenden Fahrzeug - Google Patents

Vorrichtung zum Bestimmen und Korrigieren der Ablenkung der Hauptachse in einer Fahrzeug-Hinderniserkennungsvorrichtung, und System zum Regeln des Abstandes zu einem vorausfahrenden Fahrzeug

Info

Publication number
DE69632021D1
DE69632021D1 DE69632021T DE69632021T DE69632021D1 DE 69632021 D1 DE69632021 D1 DE 69632021D1 DE 69632021 T DE69632021 T DE 69632021T DE 69632021 T DE69632021 T DE 69632021T DE 69632021 D1 DE69632021 D1 DE 69632021D1
Authority
DE
Germany
Prior art keywords
vehicle
deflection
correcting
regulating
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE69632021T
Other languages
English (en)
Other versions
DE69632021T2 (de
Inventor
Noriaki Shirai
Katsuhiko Hibino
Takao Nishimura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Publication of DE69632021D1 publication Critical patent/DE69632021D1/de
Application granted granted Critical
Publication of DE69632021T2 publication Critical patent/DE69632021T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/081—Lane monitoring; Lane Keeping Systems using distance control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/021—Means for detecting failure or malfunction
    • 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
    • G01S2013/93185—Controlling the brakes
    • 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
    • G01S2013/9319—Controlling the accelerator
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
DE69632021T 1995-12-27 1996-12-27 Vorrichtung zum Bestimmen und Korrigieren der Ablenkung der Hauptachse in einer Fahrzeug-Hinderniserkennungsvorrichtung, und System zum Regeln des Abstandes zu einem vorausfahrenden Fahrzeug Expired - Lifetime DE69632021T2 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP34166895 1995-12-27
JP34166895 1995-12-27
JP27823396 1996-10-21
JP27823396A JP3331882B2 (ja) 1995-12-27 1996-10-21 車両用障害物検出装置の中心軸偏向量算出装置，中心軸偏向量補正装置，および車間制御装置

Publications (2)

Publication Number Publication Date
DE69632021D1 true DE69632021D1 (de) 2004-05-06
DE69632021T2 DE69632021T2 (de) 2005-01-05

Family

ID=26552773

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69632021T Expired - Lifetime DE69632021T2 (de) 1995-12-27 1996-12-27 Vorrichtung zum Bestimmen und Korrigieren der Ablenkung der Hauptachse in einer Fahrzeug-Hinderniserkennungsvorrichtung, und System zum Regeln des Abstandes zu einem vorausfahrenden Fahrzeug

Country Status (4)

Country Link
US (1) US6246949B1 (de)
EP (1) EP0782008B1 (de)
JP (1) JP3331882B2 (de)
DE (1) DE69632021T2 (de)

Families Citing this family (63)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6025797A (en) * 1997-07-22 2000-02-15 Denso Corporation Angular shift determining apparatus for determining angular shift of central axis of radar used in automotive obstacle detection system
EP1034963B1 (de) * 1997-12-01 2006-05-24 Hitachi, Ltd. Fahrgeschwindigkeitsregler für automobile
DE19859284A1 (de) * 1998-12-22 2000-06-29 Bosch Gmbh Robert Verfahren und Vorrichtung zur Geschwindigkeits- und Abstandsregelung eines Kraftfahrzeuges
DE19952056A1 (de) 1999-10-28 2001-05-03 Bosch Gmbh Robert Abstandssensor mit einer Kompensationseinrichtung für einen Dejustagewinkel an einem Fahrzeug
JP2001166051A (ja) * 1999-12-10 2001-06-22 Fujitsu Ten Ltd 車両用レーダ装置の軸ずれ検出装置
SE520360C2 (sv) * 1999-12-15 2003-07-01 Goeran Sjoenell Varningsanordning vid fordon
WO2001046766A1 (en) * 1999-12-21 2001-06-28 Lockheed Martin Corporation Spatial avoidance method and apparatus
DE10019182A1 (de) * 2000-04-17 2001-10-25 Bosch Gmbh Robert Verfahren und Vorrichtung zum Ermitteln einer Fehlausrichtung der Strahlungscharakteristik eines Sensors zur Geschwindigkeits- und Abstandsregelung eines Fahrzeugs
GB2363016A (en) * 2000-05-31 2001-12-05 Roke Manor Research Automotive radar
DE10048102A1 (de) * 2000-09-28 2002-04-18 Adc Automotive Dist Control Verfahren zum Betrieb eines Fahrerassistenzsystems für Kraftfahrzeuge
US6945346B2 (en) 2000-09-28 2005-09-20 Automotive Distance Control Systems Gmbh Method for operating a driver support system for motor vehicles
JP4740449B2 (ja) * 2000-12-27 2011-08-03 富士通テン株式会社 車載用レーダの上下軸ずれ検出装置
US6683560B2 (en) 2000-12-29 2004-01-27 Honeywell International Inc. System and technique for enhanced radar object detection
JP3733863B2 (ja) * 2001-02-02 2006-01-11 株式会社日立製作所 レーダ装置
US6795765B2 (en) * 2001-03-22 2004-09-21 Visteon Global Technologies, Inc. Tracking of a target vehicle using adaptive cruise control
JP3729132B2 (ja) * 2002-01-16 2005-12-21 日産自動車株式会社 車両用レーダ装置の軸ずれ検出装置
US6888622B2 (en) * 2002-03-12 2005-05-03 Nissan Motor Co., Ltd. Method for determining object type of reflective object on track
JP2004198159A (ja) * 2002-12-17 2004-07-15 Nissan Motor Co Ltd 車載センサの軸ずれ計測装置
WO2005073754A1 (en) 2004-02-02 2005-08-11 Sjoenell Goeran Vehicle collision detector
JP4895484B2 (ja) * 2004-06-28 2012-03-14 富士通テン株式会社 車載用レーダ装置の軸ずれ量演算方法及び車載用レーダ軸ずれ判定方法
US7164118B2 (en) * 2004-10-29 2007-01-16 Deere & Company Method and system for obstacle detection
EP1770410B1 (de) * 2004-11-12 2017-05-24 Mitsubishi Electric Corporation Verfahren und einrichtung zur schätzung eines axialen abweichungswinkels
JP2006151125A (ja) * 2004-11-26 2006-06-15 Omron Corp 車載用画像処理装置
JP2006349568A (ja) * 2005-06-17 2006-12-28 Mitsubishi Electric Corp エイミング誤差推定装置
JP4652143B2 (ja) * 2005-06-24 2011-03-16 三菱電機株式会社 軸ずれ角推定装置および軸ずれ角推定方法
DE602006015362D1 (de) * 2006-03-06 2010-08-19 Hitachi Ltd Steuereinrichtung und verfahren für automobile
DE102007001367A1 (de) 2007-01-09 2008-07-10 Robert Bosch Gmbh Verfahren und Meßstrecke zum Ausrichten eines Abstandssensors
DE112008004187B4 (de) * 2008-12-15 2016-06-16 Toyota Jidosha Kabushiki Kaisha Objektmessvorrichtung und verfahren zur verwendung in der vorrichtung
US8581776B2 (en) * 2008-12-18 2013-11-12 Toyota Jidosha Kabushiki Kaisha Radar system
JP5648425B2 (ja) * 2010-11-01 2015-01-07 株式会社デンソー 異常検出装置、および異常検出プログラム
JP2012118031A (ja) * 2010-12-03 2012-06-21 Denso Corp レーダ装置
KR101767881B1 (ko) 2011-03-17 2017-08-14 현대모비스 주식회사 차량의 후측방 레이더의 수평 방향으로의 얼라인먼트 방법 및 시스템
GB2490094B (en) * 2011-03-29 2015-11-18 Jaguar Land Rover Ltd Monitoring apparatus and method
DE102011081367A1 (de) * 2011-08-23 2013-02-28 Robert Bosch Gmbh Verfahren zur Steuerung einer Lichtaussendung eines Scheinwerfers eines Fahrzeugs
JP5953716B2 (ja) * 2011-11-28 2016-07-20 トヨタ自動車株式会社 車両用制御装置、特定物体判別装置、特定物体判別方法、特定物体判別プログラム
JP5964509B2 (ja) * 2012-06-28 2016-08-03 オートリブ ディベロップメント エービー 車両用レーダセンサのミスアライメント処理
JP5926208B2 (ja) 2013-02-12 2016-05-25 株式会社デンソー 車載レーダ装置
DE102013102087A1 (de) 2013-03-04 2014-09-04 Conti Temic Microelectronic Gmbh Verfahren zum Betrieb eines Fahrerassistenzsystems eines Fahrzeugs
DE102013208763A1 (de) * 2013-05-13 2014-11-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Erkennen einer Anfahrabsicht eines haltenden Fahrzeugs
DE102013013065A1 (de) * 2013-08-06 2015-02-12 Daimler Ag Verfahren zum Bestimmen eines Geschwindigkeitsvektors für ein Gestenerkennungssystem in einem Kraftwagen und Vorrichtung zum Durchführen des Verfahrens
US20150070207A1 (en) * 2013-09-06 2015-03-12 Valeo Radar Systems, Inc. Method and Apparatus For Self Calibration of A Vehicle Radar System
JP6146285B2 (ja) * 2013-12-02 2017-06-14 株式会社デンソー 軸ずれ判定装置
EP3104192A4 (de) * 2014-02-05 2017-03-08 Panasonic Intellectual Property Management Co., Ltd. Objekterkennungsvorrichtung
JP6365251B2 (ja) * 2014-02-28 2018-08-01 パナソニック株式会社 レーダ装置
JP5976027B2 (ja) * 2014-03-27 2016-08-23 三菱電機株式会社 センサ軸ずれ検出装置およびセンサ軸ずれ検出方法
KR102214332B1 (ko) * 2014-04-30 2021-02-10 주식회사 만도 운전자 편의 시스템 및 운전자 편의 시스템에서 레이더 센서의 수직각도 이상 판정 방법
JP6396714B2 (ja) * 2014-08-06 2018-09-26 株式会社デンソー 物体認識装置
JP6527369B2 (ja) * 2015-03-31 2019-06-05 株式会社デンソー 車両制御装置、及び車両制御方法
JP6475543B2 (ja) 2015-03-31 2019-02-27 株式会社デンソー 車両制御装置、及び車両制御方法
JP6363549B2 (ja) * 2015-03-31 2018-07-25 株式会社デンソー 車両制御装置、及び車両制御方法
KR102398028B1 (ko) * 2015-08-17 2022-05-17 주식회사 에이치엘클레무브 자동 긴급 제동 시스템 및 그 제어방법
DE102015118085A1 (de) * 2015-10-23 2017-04-27 Valeo Schalter Und Sensoren Gmbh Verfahren zum Korrigieren einer fehlerhaften Ausrichtung eines optischen Sensors eines Kraftfahrzeugs, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
JP6407183B2 (ja) * 2016-03-11 2018-10-17 日立建機株式会社 障害物検知装置、作業機械、及び外界認識センサの検出軸調整方法
JP6622167B2 (ja) * 2016-09-26 2019-12-18 株式会社デンソー 軸ずれ推定装置
DE102016226312A1 (de) * 2016-12-29 2018-07-05 Robert Bosch Gmbh Verfahren zum Betrieb eines Fahrerassistenzsystems für Kraftfahrzeuge
CN106991207B (zh) * 2017-02-08 2019-12-10 吉林大学 车身a柱障碍角的计算方法
KR102246773B1 (ko) * 2017-11-27 2021-04-30 현대모비스 주식회사 차량 센서의 비틀림 각 추정 장치 및 방법
KR102262439B1 (ko) * 2017-11-27 2021-06-08 현대모비스 주식회사 차량 센서의 비틀림 각 추정 장치 및 방법
RU2742323C2 (ru) * 2018-12-29 2021-02-04 Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" Способ и компьютерное устройство для определения углового смещения радиолокационной системы
US11367347B2 (en) * 2020-02-24 2022-06-21 Ford Global Technologies, Llc Enhanced sensor operation
DE102020212374A1 (de) * 2020-09-30 2022-03-31 Siemens Mobility GmbH Verfahren zur Überprüfung der Kalibrierung eines auf einem Schienenfahrzeug angeordneten Umfeldsensors
CN112799055A (zh) * 2020-12-28 2021-05-14 深圳承泰科技有限公司 一种探测被测车辆的方法、装置以及电子设备
JP2022150929A (ja) * 2021-03-26 2022-10-07 本田技研工業株式会社 軸ずれ推定装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5023617A (en) 1990-02-20 1991-06-11 General Motors Corporation Vehicle forward sensor antenna steering system
DE69224555T2 (de) * 1991-05-16 1998-07-30 Aisin Seiki Automatisches Steuersystem für Seitenführung
JPH05157843A (ja) 1991-12-10 1993-06-25 Kansei Corp 車間距離測定レーダ
US5461357A (en) 1992-01-29 1995-10-24 Mazda Motor Corporation Obstacle detection device for vehicle
JPH06290398A (ja) 1993-03-31 1994-10-18 Mazda Motor Corp 障害物検知装置
JP3082555B2 (ja) 1994-01-19 2000-08-28 トヨタ自動車株式会社 車載レーダ装置
JPH07225276A (ja) * 1994-02-10 1995-08-22 Mitsubishi Electric Corp 車両用光レーダ装置
JP3223700B2 (ja) 1994-04-26 2001-10-29 株式会社デンソー 車両の障害物警報装置
JP3189560B2 (ja) 1994-03-25 2001-07-16 株式会社デンソー 車間距離検知装置および車間距離警報装置
JP3235330B2 (ja) 1994-03-25 2001-12-04 株式会社デンソー 車両の障害物警報装置
JP3391091B2 (ja) 1994-04-20 2003-03-31 株式会社デンソー 車間距離警報装置
JP3334326B2 (ja) 1994-04-22 2002-10-15 株式会社デンソー 停止物距離警報装置
JP3401913B2 (ja) 1994-05-26 2003-04-28 株式会社デンソー 車両用障害物認識装置
US5745870A (en) * 1994-09-14 1998-04-28 Mazda Motor Corporation Traveling-path prediction apparatus and method for vehicles
JP3470453B2 (ja) 1995-04-06 2003-11-25 株式会社デンソー 車間距離制御装置
JP3119142B2 (ja) * 1995-12-04 2000-12-18 トヨタ自動車株式会社 車載レーダ装置

Also Published As

Publication number Publication date
EP0782008B1 (de) 2004-03-31
DE69632021T2 (de) 2005-01-05
JP3331882B2 (ja) 2002-10-07
US6246949B1 (en) 2001-06-12
EP0782008A3 (de) 1998-12-09
EP0782008A2 (de) 1997-07-02
JPH09236659A (ja) 1997-09-09

Similar Documents

Publication Publication Date Title
DE69632021D1 (de) Vorrichtung zum Bestimmen und Korrigieren der Ablenkung der Hauptachse in einer Fahrzeug-Hinderniserkennungsvorrichtung, und System zum Regeln des Abstandes zu einem vorausfahrenden Fahrzeug
DE69403706D1 (de) Verfahren und Vorrichtung zur Erfassung des Gierwinkels eines Fahrzeugs
DE69829704D1 (de) Fahrzeug mit einer Vorrichtung zum Erfassen des Winkels eines Fahrzeugrads
DE69331838D1 (de) Vorrichtung zum Berechnen des Schräglagenwinkels eines Fahrzeugs
DE69304592D1 (de) Vorrichtung zum Bestimmen des Abstandes zwischen Fahrzeugen
DE69100137T2 (de) Einrichtung zum Erfassen des Vorhandenseins einer Ungewöhnlichkeit in einem Fahrzeuginsassen-Schutzsystem.
DE69739713D1 (de) System und vorrichtung zur erfassung der insassen eines fahrzeuges
DE69714606D1 (de) Vorrichtung zur überprüfung eines von einer anlage kommenden steuersignals in einer prozesssteuerung
DE69632438D1 (de) Verfahren und Vorrichtung zum Kalibrieren eines Abstandssensors in einem Fahrzeugnavigationssystem
DE69110485D1 (de) Verfahren und Vorrichtung zum Feststellen des Lenkausschlagnullpunktes eines Fahrzeuges.
DE69617889T2 (de) Abtastradarvorrichtung für Fahrzeuge zum genauen Entdecken von Gegenständen in der Spur eines damit ausgestatteten Fahrzeugs
NZ312623A (en) System and method for determining the distance travelled by a vehicle
DE69618397D1 (de) Vorrichtung zur Ueberwachung von Reifen eines Fahrzeuges
DE59400601D1 (de) Vorrichtung zum erfassen einer winkelposition eines objektes
DE69314219T2 (de) Vorrichtung zur Detektion des Fahrzeugkurses
DE69622970T2 (de) System zur Drehmomenterfassung in einem Automatikgetriebe eines Fahrzeugs sowie zu dessen Steuerung auf Basis des erfassten Drehmoments
DE68914558D1 (de) Verfahren und Vorrichtung zur Feststellung des neutralen Steuerwinkels eines Fahrzeugslenkrades.
DE69513927T2 (de) Vorrichtung zur Verstellung des Raupenabstands eines Arbeitsfahrzeuges
DE69522030T2 (de) System und Vorrichtung zum Bestimmen der relativen Masse eines Fahrzeugs
DE69634319D1 (de) Vorrichtung zum Messen des Aktionspotentials eines Einzelnervs
DE59609532D1 (de) Vorrichtung zur Erfassung einer Fahrzeugquerneigung
DE69505782D1 (de) System zum Schätzen des Zustandes eines Fahrzeuges
DE69615468D1 (de) Vorrichtung zum Messen einer Winkelgeschwindigkeit
DE69620824D1 (de) Vorrichtung zum Messen einer Winkelgeschwindigkeit
DE69127940T2 (de) Vorrichtung zum Begrenzen des Einschlagwinkels von Fahrzeugrädern

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)