Road environment recognition device and method of recognizing road environment
First Claim
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1. A road environment recognition device comprising:
- a radar unit on a subject vehicle, wherein the radar unit emits a plurality of beams in a predetermined angle range in a width direction and a height direction of the subject vehicle, and receives a reflection beam reflected by an object;
an object recognizing element for recognizing a position of the object relative to the subject vehicle and an attribute of the object based on results of the emitted plurality of beams and the reflection beam;
a traveling amount measuring element for measuring a traveling amount of the subject vehicle;
a coordinate position calculating element for repeatedly calculating a coordinate position of the subject vehicle in an absolute coordinate having a predetermined point as an origin point based on the traveling amount measured by the traveling amount measuring element, and repeatedly calculating a coordinate position of the object based on the calculated position of the subject vehicle and the position of the object relative to the subject vehicle; and
a road environment recognizing element for memorizing the coordinate positions of the subject vehicle and the object, and recognizing a road environment of the subject vehicle based on the memorized coordinate positions and the attribute of the object.
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Abstract
A radar unit emits beams, and receives a reflection beam reflected by an object. A position of the object relative to a vehicle and an attribute of the object are recognized based on the emitted beams and the reflection beam. A coordinate position of the vehicle in an absolute coordinate is calculated based on a traveling amount of the vehicle, and a coordinate position of the object is calculated based on the calculated position of the vehicle and the position of the object relative to the vehicle. A road environment of the vehicle is recognized based on the coordinate positions and the attribute of the object.
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10 Claims
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1. A road environment recognition device comprising:
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a radar unit on a subject vehicle, wherein the radar unit emits a plurality of beams in a predetermined angle range in a width direction and a height direction of the subject vehicle, and receives a reflection beam reflected by an object; an object recognizing element for recognizing a position of the object relative to the subject vehicle and an attribute of the object based on results of the emitted plurality of beams and the reflection beam; a traveling amount measuring element for measuring a traveling amount of the subject vehicle; a coordinate position calculating element for repeatedly calculating a coordinate position of the subject vehicle in an absolute coordinate having a predetermined point as an origin point based on the traveling amount measured by the traveling amount measuring element, and repeatedly calculating a coordinate position of the object based on the calculated position of the subject vehicle and the position of the object relative to the subject vehicle; and a road environment recognizing element for memorizing the coordinate positions of the subject vehicle and the object, and recognizing a road environment of the subject vehicle based on the memorized coordinate positions and the attribute of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of recognizing a road environment comprising:
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emitting a plurality of beams from a radar unit mounted on a vehicle in a predetermined angle range in a width direction and a height direction of the vehicle and the beam is reflected by an object as a reflection beam; recognizing a position of the object relative to the vehicle and an attribute of the object based on the emitted plurality of beams and the reflection beam reflected by the object; measuring a traveling amount of the vehicle; calculating a coordinate position of the vehicle in an absolute coordinate having a predetermined point as an origin point based on the measured traveling amount, and calculating a coordinate position of the object based on the calculated position of the vehicle and the position of the object relative to the vehicle; and memorizing the coordinate positions of the vehicle and the object, and recognizing a road environment of the vehicle based on the memorized coordinate positions of the vehicle and the object, and the attribute of the object.
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Specification