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1. WO2019198532 - OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, AND OBJECT DETECTION METHOD

Publication Number WO/2019/198532
Publication Date 17.10.2019
International Application No. PCT/JP2019/013640
International Filing Date 28.03.2019
IPC
G01S 13/87 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
87Combinations of radar systems, e.g. primary radar and secondary radar
G01S 13/89 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
88Radar or analogous systems, specially adapted for specific applications
89for mapping or imaging
G01S 13/91 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
88Radar or analogous systems, specially adapted for specific applications
91for traffic control
G08G 1/01 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
01Detecting movement of traffic to be counted or controlled
CPC
G01S 13/003
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
003Bistatic radar systems; Multistatic radar systems
G01S 13/726
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
66Radar-tracking systems; Analogous systems
72for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
723by using numerical data
726Multiple target tracking
G01S 13/87
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
87Combinations of radar systems, e.g. primary radar and secondary radar
G01S 13/91
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
88Radar or analogous systems specially adapted for specific applications
91for traffic control
G01S 13/931
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G01S 7/2955
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
02of systems according to group G01S13/00
28Details of pulse systems
285Receivers
295Means for transforming co-ordinates or for evaluating data, e.g. using computers
2955Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
Applicants
  • パナソニック株式会社 PANASONIC CORPORATION [JP]/[JP]
Inventors
  • 劉 偉傑 LIU Weijie
  • 安木 慎 YASUGI Makoto
  • 中川 洋一 NAKAGAWA Yoichi
Agents
  • 特許業務法人 大島特許事務所 OSHIMA & PARTNERS
Priority Data
2018-07608111.04.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, AND OBJECT DETECTION METHOD
(FR) DISPOSITIF, SYSTÈME ET PROCÉDÉ DE DÉTECTION D'OBJET
(JA) 物体検出装置、物体検出システム、及び物体検出方法
Abstract
(EN)
[Problem] To perform appropriate clustering regarding radar measurement information. [Solution] The present invention is configured such that a processor 23 of an object detection device 3: acquires setting information of radar lattices 41 for measurement which are respectively set corresponding to a measurement area 18 of a radar 2 and which are composed of a plurality of radar cells R; acquires setting information of a processing lattice 45 for clustering processing which is set corresponding to the measurement area 18 and which is composed of a plurality of processing cells F; calculates a likelihood pertaining to the measurement value of each radar cell R, on the basis of the distance between each radar cell R and each processing cell F; calculates, on the basis of the likelihoods, a lattice value for each processing cell F in the processing lattice 45; and performs clustering of the processing cells F on the basis of the distance between or the lattice values of the processing cells F, or on the basis of both the distance and the lattice values.
(FR)
Le problème décrit par la présente invention est d'effectuer un regroupement approprié concernant des informations de mesure radar. La solution selon la présente invention est conçue de telle sorte qu'un processeur (23) d'un dispositif de détection d'objet (3) : acquiert des informations de réglage de réseaux radar (41) pour une mesure qui sont respectivement définies correspondant à une zone de mesure (18) d'un radar (2) et qui sont composées d'une pluralité de cellules radar R ; acquiert des informations de réglage d'un réseau de traitement (45) pour un traitement de regroupement qui est défini correspondant à la zone de mesure (18) et qui est composé d'une pluralité de cellules de traitement F ; calcule une probabilité relative à la valeur de mesure de chaque cellule radar R, sur la base de la distance entre chaque cellule radar R et chaque cellule de traitement F ; calcule, sur la base des probabilités, une valeur de réseau pour chaque cellule de traitement F dans le réseau de traitement (45) ; et effectue un regroupement des cellules de traitement F sur la base de la distance entre les cellules de traitement F ou les valeurs de réseau des cellules de traitement F, ou sur la base à la fois de la distance et des valeurs de réseau.
(JA)
【課題】レーダーの測定情報に関して適切なクラスタリングを行う。 【解決手段】物体検出装置3のプロセッサ23が、レーダー2の測定エリア18にそれぞれ対応して設定され、かつ複数のレーダーセルRから構成される測定用のレーダー格子41の設定情報を取得し、測定エリア18に対応して設定され、かつ複数の処理用セルFから構成されたクラスタリング処理用の処理用格子45の設定情報を取得し、各レーダーセルRと各処理用セルFとの距離に基づき、各レーダーセルRの測定値に関する尤度をそれぞれ算出し、その尤度に基づき、処理用格子45における各処理用セルFの格子値をそれぞれ算出し、各処理用セルFについて、当該各処理用セルFの間の距離または格子値、あるいは前記距離と前記格子値の両方に基づきクラスタリングを行う構成とする。
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