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    • 10. 发明授权
    • Obstacle sensing apparatus for vehicles
    • 车辆障碍物检测装置
    • US5479173A
    • 1995-12-26
    • US207365
    • 1994-03-08
    • Tohru YoshiokaYasunori YamamotoTomohiko AdachiKen-ichi Okuda
    • Tohru YoshiokaYasunori YamamotoTomohiko AdachiKen-ichi Okuda
    • B60T7/22G01S13/86G01S13/93G05D1/02G06F15/50
    • G05D1/0246B60T7/22G01S13/867G01S13/931G05D1/0257G01S2013/9346G01S2013/9353G01S2013/9375G05D2201/0213
    • An obstacle sensing apparatus for vehicles which enables efficient obstacle sensing and improves sensing precision. The apparatus comprises a section for predicting a deduced traveling-passage on which the vehicle will travel, based on a steering angle, a yaw rate and a velocity of the vehicle, a section having a CCD camera, for detecting a current traveling-passage on which the vehicle is currently moving, a scanning-type radar unit for sensing obstacles within a predetermined area, and a danger level judging section for judging danger levels of the sensed obstacles, based on the deduced traveling-passage and the current traveling-passage. The danger level judging section sets the danger level of the obstacle sensed within an area, where the deduced traveling-passage and the current traveling-passage overlap with each other, to the highest danger level; the obstacle sensed in an area within the current traveling-passage and without the deduced traveling-passage, to an intermediate danger level; the obstacle sensed in an area within the deduced traveling-passage and without the current traveling-passage, to a lower danger level; and the obstacle sensed in an area without the current and deduced traveling-passages, to the lowest danger level.
    • 一种用于车辆的障碍物感测装置,其能够进行有效的障碍物感测并提高感测精度。 该装置包括:用于基于车辆的转向角,偏航角速度和速度来预测车辆将行驶的推导行驶通道的部分,具有CCD相机的部分,用于检测当前行驶通道 车辆当前正在移动的扫描型雷达单元,用于感测预定区域内的障碍物的扫描型雷达单元,以及用于根据推导出的行进通路和当前行驶通路来判断感测到的障碍物的危险等级的危险等级判定部。 危险程度判定部将将推断出的行驶路和当前行驶路相互重叠的区域内的障碍物的危险程度设定为最高危险度; 在当前行驶通道内的区域内感测到的障碍物,并且没有推断行驶通道,达到中间危险程度; 在推断的行驶通道内的区域内感测到的障碍物并且没有当前的行驶通道,处于较低的危险水平; 在没有当前和推断的行驶通道的地区感测到的障碍达到最低的危险程度。