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WO2024202276A1 - Dispositif d'aide au déplacement et véhicule de type à selle - Google Patents

Dispositif d'aide au déplacement et véhicule de type à selle Download PDF

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Publication number
WO2024202276A1
WO2024202276A1 PCT/JP2023/044278 JP2023044278W WO2024202276A1 WO 2024202276 A1 WO2024202276 A1 WO 2024202276A1 JP 2023044278 W JP2023044278 W JP 2023044278W WO 2024202276 A1 WO2024202276 A1 WO 2024202276A1
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WIPO (PCT)
Prior art keywords
range
driving
vehicle
lane
unit
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.)
Pending
Application number
PCT/JP2023/044278
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English (en)
Japanese (ja)
Inventor
真生 吉永
爾 飯塚
慶介 大原
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Publication date
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Priority to JP2025509722A priority Critical patent/JP7784024B2/ja
Publication of WO2024202276A1 publication Critical patent/WO2024202276A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a driving assistance device and a saddle-type vehicle.
  • Patent document 1 discloses a blind spot monitoring system that includes a processing device that correlates signals from an object detector and a tilt detector, identifies the relative position of a vehicle in an adjacent lane based on the tilt of the motorcycle, and has parameters for where the blind spot is for the user, and a transmission device for notifying a user driving a motorcycle when the processing device identifies that a vehicle is in the user's blind spot or that a collision will occur if the user attempts to change lanes and does not notify the user.
  • Patent Document 2 discloses a vehicle driving support device that includes "an object recognition means for recognizing an object that exists in front of the vehicle, a control means for issuing an alarm to the driver of the vehicle or automatically controlling the vehicle when an object recognized by the object recognition means is likely to collide with the vehicle within a predetermined road range, and a control range variable means for changing the predetermined road range laterally of the road according to road conditions.”
  • Patent Document 3 discloses a "driving support device that detects a following vehicle, such as an automobile or motorcycle, traveling directly behind the vehicle, based on images of a first predetermined area and a second predetermined area.”
  • the first predetermined area is provided from an adjacent lane on one side of the vehicle, straddling the dividing line, to the immediate rear of the vehicle, and the second predetermined area is provided from an adjacent lane on the other side of the vehicle, straddling the dividing line, to the immediate rear of the vehicle.
  • the detection area for a vehicle approaching from behind in an adjacent lane is set large in advance to make it easier to detect the vehicle, the detection area may include lanes adjacent to the adjacent lane. In this case, vehicles in lanes that do not need to be detected are detected, resulting in overdetection and annoyance to the driver. Thus, there is a trade-off between improving the detection accuracy of other vehicles and overdetection.
  • the technologies disclosed in Patent Documents 1 to 3 do not consider the driving position of the saddle-type vehicle in the driving lane.
  • the present application aims to solve the above problems by improving the object detection accuracy and suppressing overdetection of objects.
  • the driving assistance device is characterized by comprising a position detection unit that detects the driving position of the vehicle within the driving lane in which the vehicle is traveling, a range setting unit that sets a predetermined range around the vehicle based on the detection result of the position detection unit, an object detection unit that detects whether an object is present within the predetermined range, and an alarm unit that alarms an occupant of the vehicle that the object has been detected by the object detection unit.
  • the saddle-type vehicle includes the driving assistance device, an ambient environment detection unit that detects the ambient environment of the vehicle, an operation unit that operates the turn signal, and an operation detection unit that is provided in the driving assistance device and detects the operation of the operation unit by the occupant.
  • FIG. 1 is a block diagram showing an example of a schematic configuration of a saddle-ride type vehicle according to a first embodiment.
  • FIG. 2 is a schematic diagram illustrating an example of a notification detection range according to the first embodiment.
  • FIG. 3 is a schematic diagram showing an example of a notification detection range of a comparative example.
  • FIG. 4 is a schematic diagram showing another example of the notification detection range of the comparative example.
  • FIG. 5 is a flowchart illustrating an example of the operation of the driving support device of the first embodiment.
  • FIG. 6 is a schematic diagram showing notification detection ranges FM1a and FM1b.
  • FIG. 7 is a schematic diagram showing notification detection ranges FC1a and CCb.
  • FIG. 8 is a schematic diagram showing notification detection ranges CCa and CCb.
  • FIG. 9 is a schematic diagram showing notification detection ranges FM2a and FM2b.
  • FIG. 10 is a schematic diagram showing notification detection ranges FC2a and FC2b.
  • FIG. 11 is a flowchart showing an example of the operation of the driving support device of the second embodiment.
  • FIG. 12 is a schematic diagram showing an example of a notification detection range.
  • FIG. 1 is a block diagram showing an example of a schematic configuration of a saddle-ride type vehicle 1.
  • the saddle-ride type vehicle 1 includes a driving assistance device 10 according to the first embodiment of the present disclosure, an ambient environment detection unit 20 that detects the ambient environment of the vehicle (i.e., the saddle-ride type vehicle 1), an operation unit 40 that operates a turn signal (not shown), and an operation detection unit 111d that is provided in the driving assistance device 10 and detects the operation of the operation unit 40 by a passenger (not shown) of the saddle-ride type vehicle 1.
  • an ambient environment detection unit 20 that detects the ambient environment of the vehicle (i.e., the saddle-ride type vehicle 1)
  • an operation unit 40 that operates a turn signal
  • an operation detection unit 111d that is provided in the driving assistance device 10 and detects the operation of the operation unit 40 by a passenger (not shown) of the saddle-ride type vehicle 1.
  • the saddle-type vehicle 1 includes an ECU 11 provided in the driving assistance device 10.
  • ECU 11 is an abbreviated form of Electronic Control Unit.
  • the ECU 11 is a computer device that includes a control unit 111, a memory unit 112, and a communication interface circuit (not shown).
  • the storage unit 112 includes memories such as ROM and RAM. ROM is an abbreviation of Read Only Memory. RAM is an abbreviation of Random Access Memory.
  • the storage unit 112 stores the control program executed by the control unit 111.
  • the storage unit 112 also stores data processed by the control unit 111 when the computer program is executed and data of the processing results. Furthermore, the storage unit 112 stores a first fixed range and a second fixed range (both of which will be described in detail later) that are set as a notification detection range for detecting objects present around the saddle-ride type vehicle 1.
  • the control unit 111 is composed of a CPU, a microcomputer, etc., and controls each part of the ECU 11 by executing a computer program.
  • CPU is an abbreviation of Central Processing Unit.
  • the control unit 111 may also be an SoC that integrates the control unit 111 and the memory unit 112. SoC is an abbreviation of System-on-a-chip.
  • the ECU 11 is connected to a surrounding environment detection unit 20, an in-vehicle sensor 30, and an operation unit 40.
  • the ECU 11 is also connected to a BSI display device 12.
  • BSI is an abbreviation of Blind Spot Information.
  • the BSI is a system that detects vehicles diagonally behind the vehicle, which are prone to being in blind spots while driving, and can reduce the driving burden by alerting the occupant of the saddle-type vehicle 1.
  • the driving assistance device 10 is made up of the ECU 11 and the BSI display device 12.
  • the surrounding environment detection unit 20, the on-board sensor 30, the operation unit 40, and the BSI display device 12 are connected to the ECU 11 via a communication line so that signal information such as detection signals and control signals can be sent and received.
  • the surrounding environment detection unit 20 has a vehicle forward monitoring sensor 201, a vehicle periphery monitoring sensor 202, and a GPS receiver 203.
  • GPS is an abbreviation of Global Positioning System.
  • the vehicle forward monitoring sensor 201 monitors the front of the saddle-ride type vehicle 1, i.e., the front of the vehicle.
  • the vehicle forward monitoring sensor 201 includes, for example, a forward monitoring radar, a forward monitoring laser, a forward monitoring camera, and a forward monitoring drive recorder (none of which are shown).
  • the vehicle forward monitoring sensor 201 detects the distance and direction to an object in front of the vehicle (for example, a preceding vehicle traveling in front of the vehicle or an obstacle in front of the vehicle) by measuring the reflected waves from the object in front of the vehicle using radio waves (for example, millimeter waves) emitted from the forward monitoring radar toward the front of the vehicle.
  • an object in front of the vehicle for example, a preceding vehicle traveling in front of the vehicle or an obstacle in front of the vehicle
  • radio waves for example, millimeter waves
  • the vehicle forward monitoring sensor 201 uses laser light (e.g., infrared light) emitted from a forward monitoring laser toward the front of the vehicle to measure the reflected laser light from an object in front of the vehicle (e.g., a preceding vehicle or an obstacle), thereby detecting at least the distance to the object.
  • the forward monitoring laser detects at least the distance to a preceding vehicle traveling in front of the vehicle and an obstacle in front of the vehicle.
  • the vehicle forward monitoring sensor 201 captures an image of the area ahead of the vehicle using a forward monitoring camera (eg, a solid-state image sensor).
  • the vehicle forward monitoring sensor 201 records monitoring information from a forward monitoring radar, a forward monitoring laser, and a forward monitoring camera using a forward monitoring drive recorder.
  • the vehicle periphery monitoring sensor 202 detects the surrounding environment of the saddle-ride type vehicle 1.
  • the vehicle periphery monitoring sensor 202 detects the surroundings of the vehicle, such as the sides of the saddle-ride type vehicle 1 and the rear of the saddle-ride type vehicle 1, as the surrounding environment of the saddle-ride type vehicle 1.
  • the vehicle periphery monitoring sensor 202 may detect, as the surroundings of the vehicle, a range that overlaps with the range monitored by the vehicle front monitoring sensor 201.
  • the vehicle periphery monitoring sensor 202 is equipped with a periphery detection radar, a periphery detection laser, a periphery detection camera, and a periphery detection drive recorder (all not shown).
  • the vehicle periphery monitoring sensor 202 detects the distance and direction to objects around the vehicle (for example, vehicles traveling parallel to the vehicle, vehicles traveling behind the vehicle, and obstacles) by measuring the reflected waves from the objects using radio waves (for example, millimeter waves) emitted from the periphery detection radar toward the periphery of the vehicle.
  • the periphery detection radar is provided, for example, on the left and right sides of the saddle-ride type vehicle 1, and multiple radars may be provided on each side.
  • the vehicle surroundings monitoring sensor 202 uses laser light (e.g., infrared light) emitted from a surroundings detection laser toward the vehicle's surroundings to measure the reflected laser light from objects around the vehicle (e.g., vehicles traveling alongside, following vehicles, and obstacles) to detect at least the distance to the objects.
  • laser light e.g., infrared light
  • the vehicle surroundings monitoring sensor 202 captures images of the surroundings of the vehicle using a surroundings detection camera (for example, a solid-state image sensor).
  • the vehicle periphery monitoring sensor 202 records detection information from the periphery detection radar, the periphery detection laser, and the periphery detection camera using a periphery detection drive recorder.
  • the GPS receiver 203 is a processing device that receives GPS signals via an antenna (not shown) and calculates the position of the saddle-type vehicle 1 based on the received GPS signals.
  • the on-board sensor 30 detects the state of the saddle-ride type vehicle 1, such as the speed and engine RPM of the saddle-ride type vehicle 1.
  • the on-board sensor 30 includes an acceleration sensor that detects the acceleration of the saddle-ride type vehicle 1, a vehicle speed sensor that detects the speed of the saddle-ride type vehicle 1 (i.e., vehicle speed), and an engine RPM sensor that detects the RPM of the engine of the saddle-ride type vehicle 1 (none of which are shown).
  • the operating unit 40 has various switches that can be operated by the occupant of the saddle-ride type vehicle 1.
  • the operating unit 40 has, for example, a main switch that turns on and off the power supply to the electrical components mounted on the saddle-ride type vehicle 1, a turn signal switch that blinks the turn signals, a headlight switch that turns on the headlights, an upshift switch that upshifts the transmission, a downshift switch that downshifts the transmission, a starter switch that starts the engine, etc.
  • a driving support device 10 according to the present embodiment will be described with reference to Figures 1 to 4.
  • the driving support device 10 changes the size of a notification detection range for detecting and notifying an object present around the vehicle based on the vehicle's driving position in the driving lane, thereby improving the accuracy of object detection and suppressing overdetection.
  • the driving support device 10 includes an ECU 11 and a BSI display device 12.
  • a control unit 111 provided in the ECU 11 reads and executes a computer program stored in a memory unit 112, thereby functioning as a position detection unit 111a, a range setting unit 111b, an object detection unit 111c, and an operation detection unit 111d.
  • the position detection unit 111a detects the driving position DP of the saddle-type vehicle 1 in the driving lane DL (see FIG. 2) in which the saddle-type vehicle itself (i.e., the saddle-type vehicle 1) is driving.
  • the output of the surrounding environment detection unit 20 is connected to the input of the position detection unit 111a. Therefore, the position detection unit 111a receives monitoring information detected by the vehicle front monitoring sensor 201 and the vehicle periphery monitoring sensor 202 and position information received by the GPS receiver 203.
  • the position detection unit 111a detects the driving lane DL and the driving position DP based on at least one of the monitoring information (e.g., image data) input from the vehicle front monitoring sensor 201 and the vehicle periphery monitoring sensor 202 and the position information input from the GPS receiver 203, for example.
  • the monitoring information e.g., image data
  • the output of the operation unit 40 is connected to the input of the operation detection unit 111d. Therefore, a detection signal indicating that the operation unit 40 has been operated by the occupant is input to the operation detection unit 111d. This allows the operation detection unit 111d to detect the operation of the operation unit 40 by the occupant.
  • the range setting unit 111b sets a notification detection range (an example of a predetermined range) around the vehicle based on the detection result of the position detection unit 111a.
  • the notification detection range is a range for detecting objects in order to notify the presence of an object around the saddle type vehicle 1 or the presence of an object approaching the periphery, as will be described in detail later.
  • the input of the range setting unit 111b is connected to the output of the position detection unit 111a. Therefore, the driving lane DL and the driving position DP are input to the range setting unit 111b as the detection results detected by the position detection unit 111a.
  • the range setting unit 111b sets the notification detection range based on the driving lane DL and the driving position DP input from the position detection unit 111a.
  • the input of the range setting unit 111b is also connected to the output of the operation detection unit 111d.
  • the range setting unit 111b determines the size of the notification detection range depending on whether a signal indicating that the turn signal has been operated is input from the operation detection unit 111d, as will be described in detail later.
  • the object detection unit 111c detects whether or not an object is present within the notification detection range set by the range setting unit 111b.
  • the range setting unit 111b detects, for example, vehicles, people, or obstacles that are present in the vicinity of the saddle-ride type vehicle 1 or approaching the vicinity of the saddle-ride type vehicle 1 as objects.
  • the BSI display device 12 notifies the occupant of the vehicle that an object has been detected by the object detection unit 111c.
  • the BSI display device 12 is provided, for example, in a display device (not shown) that is provided with instruments (not shown) that display information about the state of the saddle-ride type vehicle 1 (for example, vehicle speed and engine RPM) and a monitor (not shown) that displays various information. Furthermore, the BSI display device 12 is provided, for example, in a rearview mirror (not shown).
  • the BSI display device 12 is provided in the saddle-ride type vehicle 1 in such a manner that the occupant driving the saddle-ride type vehicle 1 can notice that an object has been detected by the object detection unit 111c.
  • the BSI display device 12 when it is desired to call for normal attention when the turn signal is not operated, the BSI display device 12 notifies the object detection only by the rearview mirror. Also, for example, when it is desired to call for more attention than usual when the turn signal is operated, the BSI display device 12 may notify the object detection on both the display device side on which the instruments and the like are provided, in addition to notifying the object detection on the rearview mirror.
  • FIG. 2 is a schematic overhead view showing a state in which the saddle type vehicle 1 is traveling on a three-lane road.
  • the three lanes are separated by white lines WL1, WL2, WL3, and WL4.
  • the central driving lane DL in which the saddle-ride vehicle 1 is traveling is separated from the adjacent lane AL1 on the left side by a white line WL2, and from the adjacent lane AL2 on the right side by a white line WL3.
  • the range setting unit 111b sets an alarm detection range DMa (an example of a specified range) in the area from the left side toward the left rear of the saddle-ride vehicle 1, and an alarm detection range DMb (an example of a specified range) in the area from the right side toward the right rear of the saddle-ride vehicle 1.
  • the range setting unit 111b sets an alarm detection range DMa (an example of a specified range) in the area from the left side toward the left rear of the saddle-ride vehicle 1
  • an alarm detection range DMb an example of a specified range
  • the range setting unit 111b sets a notification detection range that is larger when the operation of a turn signal by an occupant of the saddle-ride type vehicle 1 is detected by the operation detection unit 111d than when the operation is not detected.
  • the range setting unit 111b sets the right side notification detection range DCb larger in the width direction than the left side notification detection range DCa, as shown in FIG. 2.
  • the range setting unit 111b sets the left side notification detection range DCa larger in the width direction than the right side notification detection range DCb.
  • FIGS. 3 and 4 are schematic overhead views of a saddle-ride vehicle 1X according to a comparative example traveling on a three-lane road.
  • the saddle-ride vehicle 1X does not have a range setting unit 111b. Therefore, the saddle-ride vehicle 1X sets notification detection ranges DRa and DRb of the same size on both the left and right sides when it detects the operation of a turn signal, regardless of where in the travel lane DL the vehicle is traveling.
  • FIG. 3 shows a state in which notification detection ranges DRa, DRb having a width of approximately one lane are set.
  • the notification detection range DRa includes almost the entire width of the adjacent lane AL1 adjacent to the left side of the driving lane DL, and is set in a specified area from the left side to the left rear of the saddle-ride type vehicle 1X.
  • the notification detection range DRb includes the driving lane DL to the right of the imaginary center line CL and a part of the width of the adjacent lane AL2 adjacent to the right of the driving lane DL, and is set in a specified area from the right side to the right rear of the rear of the saddle-ride type vehicle 1X.
  • the saddle-ride type vehicle 1X can detect objects, such as vehicles approaching the saddle-ride type vehicle 1X in the adjacent lane AL1.
  • the area adjacent to the right of the notification detection range DRb in the width direction of the adjacent lane AL2 becomes a non-detection range NDR in which objects cannot be detected.
  • NDR non-detection range
  • FIG. 4 shows a state in which notification detection ranges DRa, DRb having a width equivalent to approximately two lanes are set.
  • the notification detection range DRa includes the entire width of the adjacent lane AL1 adjacent to the left side of the driving lane DL and a part of the adjacent area adjacent to the left side of the adjacent lane AL1, and is set in a specified area from the left side to the left rear of the saddle-ride type vehicle 1X.
  • the notification detection range DRb includes almost the entire width of the driving lane DL to the right of the imaginary center line CL and the adjacent lane AL2 adjacent to the right side of the driving lane DL, and is set in a specified area from the right side to the right rear of the rear of the saddle-ride type vehicle 1X.
  • the saddle-type vehicle 1X can detect objects, such as vehicles approaching the saddle-type vehicle 1X, in the adjacent lanes AL1 and AL2.
  • the area adjacent to the left side of the adjacent lane AL1 becomes the excessive detection range OR.
  • the saddle-type vehicle 1X also detects objects in the adjacent lane AL1 that do not need to be detected, which reduces the detection accuracy of objects present in the vicinity of the vehicle or objects approaching the vicinity.
  • the driving support device 10 provided in the saddle-type vehicle 1 is equipped with a range setting unit 111b.
  • the driving support device 10 regardless of where the driving support device 10 is driving in the width direction of the driving lane DL, it can simultaneously set the specified areas of the driving lane DL and adjacent lanes AL1, AL2 as the notification detection range, and can exclude the area adjacent to the adjacent lanes AL1, AL2 on the opposite side of the driving lane DL from the notification detection range.
  • the saddle-type vehicle 1 can improve the detection accuracy of objects present in the vicinity of the vehicle or objects approaching the vicinity, and can suppress overdetection of the objects.
  • FIG. 5 is a flowchart showing an example of a process flow for notifying the detection of an object using a notification detection range as the operation of the driving support device 10.
  • step S11 the operation detection unit 111d (see FIG. 1) determines whether or not the detection signal input from the operation unit 40 (see FIG. 1) includes a signal indicating that the turn signal is being operated. If the operation detection unit 111d determines that the signal includes a signal indicating that the turn signal has been operated and that the turn signal has been operated (step S11: YES), it proceeds to processing in step S12. On the other hand, if the operation detection unit 111d determines that the signal does not include a signal indicating that the turn signal has been operated and that the turn signal has not been operated (step S11: NO), it proceeds to processing in step S18.
  • the range setting unit 111b (see FIG. 1) can select between a calculation setting mode in which the notification detection range is calculated and set, and a fixed setting mode in which the notification detection range is set to a fixed range, and selects the calculation setting mode when a turn signal operation by the occupant is detected, and selects the fixed setting mode when a turn signal operation is not detected. Therefore, in step S11, the range setting unit 111b selects the calculation setting mode when information indicating that it has been determined that the turn signal has been operated is input from the operation detection unit 111d. On the other hand, in step S11, the range setting unit 111b selects the fixed setting mode when information indicating that it has been determined that the turn signal has not been operated is input from the operation detection unit 111d.
  • step S12 the position detection unit 111a determines whether or not the traveling position DP (see FIG. 2) of the saddle riding type vehicle 1 has been detected based on the detection result input from the surrounding environment detection unit 20 (see FIG. 1). If the position detection unit 111a determines that the traveling position DP has been detected (step S12: YES), the process proceeds to step S13. On the other hand, if the position detection unit 111a determines that the traveling position DP has not been detected (step S12: NO), the process proceeds to step S17.
  • step S13 the range setting unit 111b calculates and sets the notification detection range, and the process proceeds to step S14.
  • the range setting unit 111b determines whether the driving position DP is on the left or right side of the virtual center line CL (an example of the center) in the width direction of the driving lane DL (see FIG. 2), and sets the notification detection range on the side where the driving position DP is not present to be larger in the left-right direction than the notification detection range on the side where the driving position DP is present.
  • step S14 the object detection unit 111c determines whether or not an object that exists within the notification detection range has been detected as an object to be notified. Specifically, the object detection unit 111c determines whether or not an object to be notified exists within the notification detection range input from the range setting unit 111b based on the detection signal input from the surrounding environment detection unit 20 (see FIG. 1).
  • the detection signal includes, for example, the distance to the object and position information measured by the reflected wave or reflected laser light detected by the vehicle surroundings monitoring sensor 202 (see FIG. 1). If the object detection unit 111c determines that an object to be notified has been detected (step S14: YES), the process proceeds to step S15. On the other hand, if the object detection unit 111c determines that an object to be notified has not been detected (step S14: NO), the process proceeds to step S16.
  • step S15 the BSI display device 12 notifies the occupant that an object is present within the notification detection range, and the process proceeds to step S16.
  • step S15 after it is determined that the turn signal has been operated (YES in step S11), the BSI display device 12 issues a notification on both the display device side on which the instruments and the like are provided and the rearview mirror side.
  • step S16 it is determined whether the power supply for operating the driving assistance device 10 is off. If the voltage value of the power supply input to the driving assistance device 10 is lower than a predetermined value (step S16: YES), the driving assistance device 10 determines that the power supply is off and ends operation. On the other hand, if the voltage value of the power supply input to the driving assistance device 10 is equal to or higher than the predetermined value (step S16: NO), the driving assistance device 10 determines that the power supply is not off and returns to the processing of step S11.
  • step S17 after switching from the calculated setting mode to the fixed setting mode, the range setting unit 111b sets the notification detection range previously stored in the memory unit 112 (see FIG. 1) to a second fixed range for lane changes (details will be described later), and proceeds to the processing of step S14.
  • the processing of step S17 is performed after the calculated setting mode is selected in the processing of step S11 and it is determined in the processing of step S12 that the traveling position DP has not been detected. Therefore, if the position detection unit 111a is unable to detect the traveling position DP even when the calculated setting mode is selected, the range setting unit 111b switches from the calculated setting mode to the fixed setting mode.
  • step S18 the same processing as in step S12 is executed.
  • step S18 if the position detection unit 111a determines that the traveling position DP has been detected (step S18: YES), the processing proceeds to step S19. On the other hand, if the position detection unit 111a determines that the traveling position DP has not been detected (step S18: NO), the processing proceeds to step S20.
  • step S19 the range setting unit 111b sets the notification detection range to a first fixed range for lane keeping (described in detail below), and proceeds to the processing of step S14.
  • the processing of step S18 is the processing that occurs after the fixed setting mode is selected in the processing of step S11. Therefore, the range setting unit 111b acquires and sets the first fixed range that is previously stored in the storage unit 112 (see FIG. 1).
  • step S20 the range setting unit 111b sets the notification detection range to a second fixed range for lane changes (details will be described later), and proceeds to the processing of step S14.
  • the processing of step S20 is performed after the fixed setting mode is selected in the processing of step S11 and it is determined in step S18 that the driving position DP has not been detected. Therefore, the range setting unit 111b acquires and sets a second fixed range that is larger than the first fixed range and that is stored in advance in the memory unit 112 (see FIG. 1).
  • the range setting unit 111b sets, as the notification detection range, a fixed range that has a larger range when the position detection unit 111a is unable to detect the driving position DP than when it is able to detect the driving position DP.
  • step S17 is performed after it is determined that the turn signal has been operated (step S11: YES). Therefore, in step S15 after the process of step S17 is performed, the BSI display device 12 issues an alert on both the display device side where the instruments and the like are provided and the rearview mirror side.
  • steps S19 and S20 are carried out after it has been determined that the turn signal has not been operated (step S11: NO). Therefore, in step S15 after the process in step S19 or the process in step S20 has been executed, the BSI display device 12 issues an alert only on the display device on which the instruments, etc. are provided.
  • Figs. 6 to 10 are schematic overhead views showing a state in which the saddle type vehicle 1 is traveling on a three-lane road. Figs. 6 to 10 show a state in which the saddle type vehicle 1 is traveling on the left side of the driving lane DL with respect to the center (imaginary center line CL) in the width direction of the driving lane DL.
  • FIG. 6 shows a schematic diagram of first fixed ranges FM1a and FM1b that are set as the notification detection range (an example of a predetermined range) in the initial setting when the saddle-ride type vehicle 1 starts to operate or in the processing of step S19 in the processing flow of "step S11 ⁇ step S18 ⁇ step S19" shown in FIG. 5.
  • step S19 is performed after the operation of the turn signal is not detected and the driving position DP is detected. Therefore, as shown in FIG. 6, the range setting unit 111b sets the first fixed range FM1a including a predetermined area from the left side to the left rear of the saddle-ride type vehicle 1 as the notification detection range, and sets the first fixed range FM1b including a predetermined area from the right side to the right rear of the saddle-ride type vehicle 1 as the notification detection range.
  • the first fixed ranges FM1a and FM1b correspond to the first fixed range for lane keeping, since the operation of the turn signal is not detected and the saddle-ride type vehicle 1 is driven while maintaining the driving position DP.
  • the first fixed ranges FM1a and FM1b have, for example, a square shape and are the same size as each other.
  • the first fixed range FM1a has a size that includes almost the entire width of the adjacent lane AL1 adjacent to the left side of the driving lane DL. Since the driving position DP of the saddle type vehicle 1 is on the left side of the imaginary center line CL in the driving lane DL, the first fixed range FM1b has a size that includes a part of the width of the driving lane DL to the right of the imaginary center line CL and the adjacent adjacent lane AL2 adjacent to the right side of the driving lane DL.
  • step S19 is not intended to change the traveling position DP of the saddle type vehicle 1. Therefore, even if the lane that is relatively far from the traveling position DP of the adjacent lanes AL1, AL2 (in FIG. 6, the adjacent lane AL2) is hardly included in the notification detection range (in FIG. 6, the first fixed range FM1b), the range is sufficient for detecting objects that are present around the saddle type vehicle 1 or objects approaching the surroundings.
  • the saddle type vehicle 1 detects whether an object is present or approaching in the forward detection range FDR in parallel with the object notification process using the notification detection range.
  • FIG. 7 shows a schematic diagram of a first fixed range FC1a and a notification detection range CCb that are set as a notification detection range (an example of a predetermined range) in the processing of step S13 in the processing flow of "step S11 ⁇ step S12 ⁇ step S13" shown in FIG. 5.
  • FIG. 7 also shows the first fixed ranges FM1a and FM1b shown in FIG. 6.
  • step S13 is a process after the operation of the turn signal is detected and the driving position DP is detected.
  • the range setting unit 111b sets the notification detection range CCb (an example of a predetermined range) on the side where the driving position DP does not exist (the right side in FIG. 7) larger in the left-right direction (i.e., the width direction of the driving lane DL) than the first fixed range FC1a (an example of a predetermined range) on the side where the driving position DP exists (the left side in FIG. 7).
  • the first fixed range FC1a is set in a predetermined area from the left side to the left rear of the rear of the saddle type vehicle 1.
  • the notification detection range CCb is set in a predetermined area from the right side to the right rear of the rear of the saddle type vehicle 1.
  • the first fixed range FC1a set when the operation of the turn signal is detected has a length longer in the direction in which the driving lane DL extends (i.e., the direction intersecting the width direction of the driving lane DL) than the first fixed range FM1a when the operation of the turn signal is not detected.
  • the notification detection range CCb has, for example, the same length as the first fixed range FC1a. In this way, the saddle-ride vehicle 1 sets the notification detection range to include a wider range around the vehicle when the operation of the turn signal is detected compared to when the operation is not detected. This allows for early detection of an object that exists or approaches in a direction in which the saddle-ride vehicle 1 may move to change lanes.
  • the first fixed range FC1a is stored in, for example, the memory unit 112 (see FIG. 1), and the range setting unit 111b acquires and sets the first fixed range FC1a from the memory unit 112.
  • the range setting unit 111b sets a notification detection range CCb (an example of a predetermined range) across the driving lane DL and the adjacent lane AL2 so as to include an area beyond the virtual center line CLa (an example of a center) in the width direction of the adjacent lane AL2 adjacent to the driving lane DL.
  • the range setting unit 111b extracts the width direction size of the driving lane DL, the driving position DP, the virtual center line CL of the driving lane DL, the width direction size of the adjacent lane AL2, and the virtual center line CLa of the adjacent lane AL2 based on the detection results input from the position detection unit 111a (see FIG. 1).
  • the range setting unit 111b calculates the size of the notification detection range CCb in the width direction of the driving lane DL so as to include the range from the region of the driving lane DL corresponding to the right side of the virtual center line CL to the region beyond the virtual center line CLa (the region to the right of the virtual center line CLa in FIG. 7).
  • the range setting unit 111b also determines the size of the notification detection range CCb in the extension direction of the driving lane DL to be the same size as the size of the first fixed range FC1a in the extension direction. In this way, the range setting unit 111b sets the notification detection range CCb in step S13.
  • FIG. 8 shows a schematic diagram of the notification detection ranges CCa and CCb that are set as the notification detection range (an example of a predetermined range) in the processing of step S13 in the processing flow of "step S11 ⁇ step S12 ⁇ step S13" shown in FIG. 5.
  • the notification detection ranges CCa and CCb shown in FIG. 8 are calculated and set by a method different from the notification detection range CCb shown in FIG. 7.
  • first fixed ranges FC1a and FC1b are also shown in FIG. 8.
  • the range setting unit 111b sets the notification detection ranges CCa and CCb according to the degree of deviation of the driving position DP in the left-right direction on the driving lane DL.
  • the range setting unit 111b calculates, for example, the distance R1 of the deviation of the driving position DP from the virtual center line CL as the left-right deviation of the driving position DP.
  • the range setting unit 111b calculates the distance R1 based on the detection result input from the position detection unit 111a.
  • the range setting unit 111b sets the notification detection range CCa narrower in the width direction by the distance R1 than the first fixed range FC1a on the side where the driving position DP exists with respect to the virtual center line CL.
  • the range setting unit 111b sets the notification detection range CCb wider in the width direction by the distance R1 than the first fixed range FC1b on the side where the driving position DP does not exist with respect to the virtual center line CL. In this way, the range setting unit 111b may set the notification detection range CCb in step S13.
  • FIG. 9 shows a schematic diagram of second fixed ranges FM2a and FM2b that are set as the notification detection range (an example of a predetermined range) in step S20 in the processing flow of "step S11 ⁇ step S18 ⁇ step S20" shown in FIG. 5.
  • FIG. 9 also shows first fixed ranges FM1a and FM1b.
  • step S20 is performed after it is determined that neither the operation of the turn signal nor the driving position DP has been detected. Therefore, the range setting unit 111b sets second fixed ranges FM2a, FM2b that have a range larger in the width direction of the driving lane DL than the first fixed ranges FM1a, FM1b that are set after the operation of the turn signal is not detected and the driving position DP is detected.
  • the second fixed ranges FM2a, FM2b are stored in the memory unit 112, for example.
  • the range setting unit 111b acquires and sets the second fixed ranges FM2a, FM2b from the memory unit 112.
  • the second fixed ranges FM2a, FM2b for example, have a range of the same size as the first fixed ranges FM1a, FM1b in the extension direction of the driving lane DL.
  • the second fixed ranges FM2a, FM2b correspond to the second fixed range for lane keeping because they are set in a state in which the saddle-type vehicle 1 is driving while maintaining the driving position DP since the operation of the turn signal is not detected.
  • the second fixed ranges FM2a and FM2b have a length in the width direction of the driving lane DL that is, for example, about 1.5 times the length in the width direction.
  • the second fixed range FM2b when the driving position of the saddle type vehicle 1 is, for example, biased to the left side in the driving lane DL, the second fixed range FM2b includes almost the entire width direction of the adjacent lane AL2 adjacent to the right side of the driving lane DL, and the second fixed range FM2a includes a range beyond the adjacent lane AL1 adjacent to the left side of the driving lane DL.
  • the second fixed ranges FM2a and FM2b can detect objects present in the vicinity of the saddle type vehicle 1 or objects approaching the vicinity across the driving lane DL and the adjacent lanes AL1 and AL2.
  • the second fixed ranges FM2a and FM2b an excessive range that does not require detection occurs, but by appropriately setting the length in the width direction of the driving lane DL, the excessive range can be minimized.
  • the object detection accuracy can be improved and excessive detection of the object can be suppressed.
  • FIG. 10 shows a schematic diagram of second fixed ranges FC2a and FC2b that are set as the notification detection range (an example of a predetermined range) in step S17 in the processing flow of "step S11 ⁇ step S12 ⁇ step S17" shown in FIG. 5.
  • FIG. 10 also shows first fixed ranges FC1a and FC1b.
  • step S17 The processing of step S17 is performed after it is determined that the operation of the turn signal is detected and the driving position DP is not detected. Therefore, the range setting unit 111b sets second fixed ranges FC2a, FC2b that have a range larger in the width direction of the driving lane DL than the first fixed ranges FC1a, FC1b that may be set after the operation of the turn signal is detected and the driving position DP is detected.
  • the second fixed ranges FC2a, FC2b are stored in the memory unit 112, for example.
  • the range setting unit 111b acquires and sets the second fixed ranges FC2a, FC2b from the memory unit 112.
  • the second fixed ranges FC2a, FC2b for example, have a range of the same size as the first fixed ranges FC1a, FC1b in the extension direction of the driving lane DL.
  • the second fixed ranges FC2a, FC2b correspond to the second fixed range for lane changing because they are set in a saddle-type vehicle 1 that is traveling in a state in which the driving lane DL may change due to the detection of the operation of the turn signal.
  • the second fixed ranges FC2a and FC2b have a length in the width direction of the driving lane DL that is, for example, about 1.5 times the length in the width direction.
  • the second fixed range FC2b includes almost the entire width direction of the adjacent lane AL2 adjacent to the right side of the driving lane DL
  • the second fixed range FC2a includes a range beyond the adjacent lane AL1 adjacent to the left side of the driving lane DL.
  • the second fixed ranges FC2a and FC2b can detect objects present in the vicinity of the saddle type vehicle 1 or objects approaching the vicinity across the driving lane DL and the adjacent lanes AL1 and AL2.
  • the second fixed ranges FC2a and FC2b an excessive range that does not require detection occurs, but by appropriately setting the length in the width direction of the driving lane DL, the excessive range can be minimized.
  • the saddle type vehicle 1 can improve the object detection accuracy and suppress excessive detection of objects.
  • the saddle-type vehicle 1 is shown traveling in the driving lane DL while leaning to the left.
  • the driving support device 10 sets the notification detection range shown in Fig. 2 and Fig. 6 to Fig. 10 to a state in which the notification detection range is inverted left and right with the virtual center line CL as an axis of symmetry.
  • the saddle-ride type vehicle 1 according to the second embodiment of the present disclosure has a similar configuration to the saddle-ride type vehicle 1 according to the above-described first embodiment.
  • the travel assistance device 10 according to this embodiment has a similar configuration to the travel assistance device 10 according to the above-described first embodiment.
  • Fig. 11 is a flowchart showing an example of a process flow for notifying the detection of an object using a notification detection range as the operation of the driving support device 10.
  • step S111 the position detection unit 111a determines whether or not the driving position DP (see FIG. 2) of the saddle type vehicle 1 (see FIG. 1) has been detected, based on the detection result input from the surrounding environment detection unit 20 (see FIG. 1). If the position detection unit 111a determines that the driving position DP has been detected (step S111: YES), the process proceeds to step S112. On the other hand, if the position detection unit 111a determines that the driving position DP has not been detected (step S111: NO), the process proceeds to step S116. Note that in step S111, the same process as in step S12 in the first embodiment is executed.
  • step S112 the range setting unit 111b (see FIG. 1) calculates and sets the notification detection range, and the process proceeds to step S113.
  • the range setting unit 111b determines whether the driving position DP is on the left or right side of the virtual center line CL (an example of the center) in the width direction of the driving lane DL (see FIG. 12), and sets the notification detection range on the side where the driving position DP is not present to be larger in the left-right direction than the notification detection range on the side where the driving position DP is present. Furthermore, when setting the notification detection range, the range setting unit 111b checks whether or not the operation of a turn signal by the occupant has been detected. The range setting unit 111b sets the notification detection range so that it is longer in the extension direction of the driving lane DL when the operation of a turn signal by the occupant has been detected than when the operation is not detected.
  • step S113 the object detection unit 111c (see FIG. 1) executes the same process as that in step S14 (see FIG. 5) in the first embodiment, and then proceeds to the process of step S114 or step S115.
  • step S114 the BSI display device 12 (see FIG. 1) executes the same process as that in step S15 (see FIG. 5) in the first embodiment, and then proceeds to the process of step S115.
  • step S115 the driving assistance device 10 executes the same process as the process in step S16 (see FIG. 5) in the first embodiment, and ends the operation, or returns to the process in step S111.
  • step S116 the range setting unit 111b sets the second fixed range previously stored in the memory unit 112 (see FIG. 1) as the notification detection range, and proceeds to the processing of step S113.
  • the range setting unit 111b checks whether or not the operation of the turn signal by the occupant has been detected. If the operation of the turn signal by the occupant has been detected, the range setting unit 111b selects the second fixed range for lane changing, and if the operation has not been detected, selects the second fixed range for lane keeping.
  • Fig. 12 is a schematic overhead view showing a state in which the saddle type vehicle 1 is traveling on a three-lane road.
  • FIG. 12 shows a schematic diagram of the alarm detection ranges CMb and CCb (an example of a predetermined range) and the first fixed ranges FM1a and FC1a (an example of a predetermined range) that are set in the processing of step S112 in the processing flow of "step S111 ⁇ step S112" shown in FIG. 11.
  • the process of step S112 is a process performed after the driving position DP is detected. For this reason, when the detection of the operation of the turn signal is not confirmed when setting the notification detection range, the range setting unit 111b sets the notification detection range CMb (an example of a specified range) on the side where the driving position DP does not exist (the right side in FIG. 12) to be larger in the left-right direction (i.e., the width direction of the driving lane DL) than the first fixed range FM1a (an example of a specified range) on the side where the driving position DP exists (the left side in FIG. 12), as shown in FIG. 12.
  • the first fixed range FM1a is set in a specified area from the left side to the left rear of the saddle-ride type vehicle 1.
  • the notification detection range CMb is set in a specified area from the right side to the right rear of the saddle-ride type vehicle 1.
  • the first fixed range FM1a and the notification detection range CMb have approximately the same length in the extension direction of the driving
  • the range setting unit 111b sets the notification detection range CCb (an example of a specified range) on the side where the driving position DP does not exist (the right side in FIG. 12) to be larger in the left-right direction (i.e., the width direction of the driving lane DL) than the first fixed range FC1a (an example of a specified range) on the side where the driving position DP exists (the left side in FIG. 12), as shown in FIG. 12.
  • the first fixed range FC1a is set in a specified area from the left side to the left rear of the rear of the saddle type vehicle 1.
  • the notification detection range CCb is set in a specified area from the right side to the right rear of the rear of the saddle type vehicle 1.
  • the first fixed range FC1a and the notification detection range CCb have approximately the same length in the extension direction of the driving lane DL.
  • the first fixed range FC1a which is set when the detection of the turn signal operation is confirmed, has a longer length in the extension direction of the driving lane DL than the first fixed range FM1a when the detection of the turn signal operation is not confirmed.
  • the notification detection range CCb which is set when the detection of the turn signal operation is confirmed, has a longer length in the extension direction of the driving lane DL than the notification detection range CMb when the detection of the turn signal operation is not confirmed.
  • the saddle type vehicle 1 sets the notification detection range so that it includes a wider area around the vehicle when the turn signal operation is detected compared to when the turn signal operation is not detected. As a result, even in this embodiment, it is possible to quickly detect an object that exists or approaches in a direction in which the saddle type vehicle 1 may move to change lanes.
  • step S116 in the process flow of "step S111 ⁇ step S116" shown in FIG. 11 if the range setting unit 111b cannot confirm detection of the operation of the turn signal, it sets the second fixed ranges FM2a, FM2b for lane change shown in FIG. 9 as the notification detection range.
  • the range setting unit 111b if the range setting unit 111b can confirm detection of the operation of the turn signal, it sets the second fixed ranges FC2a, FC2b for lane change shown in FIG. 10 as the notification detection range. Therefore, the driving support device 10 according to this embodiment can obtain the same action and effect as the driving support device 10 according to the first embodiment when the driving position of the saddle-ride type vehicle 1 cannot be detected.
  • the first fixed ranges FM1a and FM1b having the same size are set as the notification detection ranges in step S19.
  • the first fixed range on the side away from the driving position DP may be set to be larger in the width direction of the driving lane DL than the side closer to the driving position DP (first fixed range FM1a in FIG. 6).
  • the notification detection range is set to an area extending from the side of the saddle-ride vehicle 1 toward the rear, but it may be set to an area extending from the side of the saddle-ride vehicle 1 toward the front.
  • the saddle-ride vehicle 1 can notify the occupant of the presence of an object approaching from the front of the vehicle.
  • the notification detection range may be set to both an area extending from the side of the saddle-ride vehicle 1 toward the rear and an area extending from the side of the saddle-ride vehicle 1 toward the front.
  • the saddle-ride vehicle 1 can notify the occupant of the presence of an object approaching from the front and the rear of the vehicle.
  • the saddle-ride type vehicle 1 is configured to notify the detection of an object by the BSI display device 12, but the detection of an object may be notified by sound in addition to the BSI display device 12.
  • the saddle-ride type vehicle 1 may notify the detection of an object only by the BSI display device 12 when it is desired to call for normal caution when the turn signal is not operated, and may notify the detection of an object by both the BSI display device 12 and sound when it is desired to call for greater caution than usual when the turn signal is operated.
  • the range setting unit 111b when the range setting unit 111b sets the notification detection ranges CCa and CCb according to the degree of left-right deviation of the driving position DP in the driving lane DL, the range setting unit 111b calculates the degree of deviation based on the distance R1 from the virtual center line CL. However, the range setting unit 111b may also calculate the degree of deviation based on the distance from the white line WL2 or the white line WL3.
  • the surrounding environment detection unit 20, the on-board sensor 30, and the operation unit 40 are connected to one ECU 11, but the surrounding environment detection unit 20, the on-board sensor 30, and the operation unit 40 may each have a control unit.
  • a vehicle surroundings monitoring sensor and a control microcomputer may be included in one component (e.g., a camera unit).
  • a driving assistance device comprising: a position detection unit that detects the driving position of the host vehicle within the driving lane in which the host vehicle is traveling; a range setting unit that sets a predetermined range around the host vehicle based on the detection result of the position detection unit; an object detection unit that detects whether an object is present within the predetermined range; and an alarm unit that alarms an occupant of the host vehicle that the object has been detected by the object detection unit.
  • the notification detection range which is the object detection range, is set based on the driving position in the driving lane, thereby improving the accuracy of object detection regardless of the driving position and suppressing excessive detection of objects.
  • (Configuration 2) The driving assistance device described in Configuration 1, characterized in that the range setting unit determines whether the driving position is on the left or right side of the center in the width direction of the driving lane, and sets the specified range on the side where the driving position is not present to be larger in the left-right direction than the specified range on the side where the driving position is present.
  • the range setting unit determines whether the driving position is on the left or right side of the center in the width direction of the driving lane, and sets the specified range on the side where the driving position is not present to be larger in the left-right direction than the specified range on the side where the driving position is present.
  • (Configuration 4) A driving assistance device described in any one of configurations 1 to 3, characterized in that the range setting unit sets the specified range across the driving lane and the adjacent lane so as to include an area beyond the center in the width direction of the adjacent lane adjacent to the driving lane.
  • the notification detection range includes lanes adjacent to the driving lane, so that objects can be detected with high accuracy regardless of the driving position.
  • the notification detection range is switched when a lane change is detected by operating the turn signal switch, so that excessive notifications during normal driving when no lane change is detected can be suppressed.
  • (Configuration 7) A driving assistance device as described in configuration 5 or 6, wherein the range setting unit switches from the calculation setting mode to the fixed setting mode if the position detection unit is unable to detect the driving position even when the calculation setting mode is selected. According to this driving assistance device, even when a lane change is detected by operating a turn signal switch, a wider range than usual is set, so that detection accuracy is improved and safety is enhanced.
  • a saddle-type vehicle comprising: a driving assistance device according to any one of configurations 1 to 7; an ambient environment detection unit that detects the ambient environment of the vehicle; an operation unit that operates the turn signal; and an operation detection unit that is provided in the driving assistance device and detects operation of the operation unit by the occupant. According to this saddle-ride type vehicle, the same effects as those of the driving support devices of configurations 1 to 7 can be obtained.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un véhicule de type à selle et un dispositif d'aide au déplacement, avec lesquels il est possible d'améliorer la précision de détection d'un objet et de supprimer une détection excessive d'un objet.　Ce dispositif d'aide au déplacement comprend : une unité de détection de position (111a) qui détecte la position de déplacement (DP) d'un propre véhicule dans une voie de déplacement (DL) sur laquelle le propre véhicule se déplace ; une unité de réglage de portée (111b) qui définit des portées prescrites (DMa, DMb, DCa, DCb) autour du propre véhicule sur la base d'un résultat de détection de l'unité de détection de position (111a) ; une unité de détection d'objet (111c) qui détecte s'il existe ou non un objet dans les portées prescrites (DMa, DMb, DCa, DCb) ; et un dispositif d'affichage BSI (12) qui notifie à un occupant dans le propre véhicule qu'un objet a été détecté par l'unité de détection d'objet (111c).
PCT/JP2023/044278 2023-03-28 2023-12-11 Dispositif d'aide au déplacement et véhicule de type à selle Pending WO2024202276A1 (fr)

Priority Applications (1)

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JP2025509722A JP7784024B2 (ja) 2023-03-28 2023-12-11 走行支援装置及び鞍乗り型車両

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JP2023-051146 2023-03-28
JP2023051146 2023-03-28

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008033798A (ja) * 2006-07-31 2008-02-14 Aisin Aw Co Ltd 車両検出装置、ナビゲーション装置、車両検出プログラムおよび車両検出方法
WO2013018673A1 (fr) * 2011-08-02 2013-02-07 日産自動車株式会社 Détecteur d'objet et procédé de détection d'objet

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008033798A (ja) * 2006-07-31 2008-02-14 Aisin Aw Co Ltd 車両検出装置、ナビゲーション装置、車両検出プログラムおよび車両検出方法
WO2013018673A1 (fr) * 2011-08-02 2013-02-07 日産自動車株式会社 Détecteur d'objet et procédé de détection d'objet

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