# US 10,872,248 B2 · Vehicle surrounding information acquiring apparatus and vehicle

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- Number: US 10,872,248 B2
- Document ID: US10872248B2
- Status: Granted
- Kind: B2
- Application number: 16/430,498
- Filed: 2019-06-04
- Published: 2019-09-19
- Granted: 2020-12-22
- Earliest claimed: 2016-12-09
- Assignees: Honda Motor Co., Ltd.
- Applicants: Honda Motor Co., Ltd.
- Inventors: Shintaro Fujita; Takato Watanabe
- Web page: https://patentgrep.com/patent/US10872248B2

## CPC

- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)}
- G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S 13/865: {Combination of radar systems with lidar systems}
- G01S 13/867: {Combination of radar systems with cameras}
- G01S 13/93: for anti-collision purposes
- G01S 13/931: of land vehicles
- G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves
- G01S 17/93: for anti-collision purposes
- G01S 17/931: of land vehicles
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- G01S 7/2955: {Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system (G01S7/24 takes precedence; sighting devices adapted for indirect laying of fire F41G3/16; inertial navigation G01C21/16)}
- G01S 2013/93185: {Controlling the brakes}
- G01S 2013/9319: {Controlling the accelerator}
- G01S 2013/9323: {Alternative operation using light waves}
- G01S 2013/9327: {Sensor installation details}
- G01S 2013/93271: {in the front of the vehicles}
- G01S 2013/93272: {in the back of the vehicles}
- G01S 2013/93275: {in the bumper area}
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- G06T 2207/30261: Obstacle
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- 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
- 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
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A vehicle surrounding information acquiring apparatus acquires information of surroundings of a vehicle by using radar detectors configured to detect an object around the vehicle by radio waves, and lidar detectors configured to detect an object around the vehicle by light. The radar detectors are arranged one by one at four corners of the vehicle and one at a center on one side of the vehicle, and the lidar detectors are arranged one by one inside arrangement positions of the radar detectors in a vehicle width direction at respective corner portions on one side of the vehicle, one by one outside the arrangement positions of the radar detectors in the vehicle width direction at respective side portions on the other side of the vehicle, and one at a center on the other side of the vehicle.

## Claims

### Claim 1

A vehicle surrounding information acquiring apparatus that acquires information of surroundings of a vehicle by using radar detectors configured to detect an object around the vehicle by radio waves, and lidar detectors configured to detect an object around the vehicle by light,
wherein the radar detectors are arranged one by one at four corners of the vehicle and one at a center on one side of the vehicle, and
the lidar detectors are arranged one by one inside arrangement positions of the radar detectors in a vehicle width direction at respective corner portions on one side of the vehicle, one by one outside the arrangement positions of the radar detectors in the vehicle width direction at respective side portions on the other side of the vehicle, and one at a center on the other side of the vehicle.

### Claim 2 (depends on 1)

The vehicle surrounding information acquiring apparatus according to claim 1, wherein the respective lidar detectors are arranged at positions of substantially the same height with respect to the vehicle.

### Claim 3 (depends on 1)

The vehicle surrounding information acquiring apparatus according to claim 1, wherein the respective lidar detectors are arranged at positions lower than arrangement positions of the radar detectors at the respective corner portions on one side of the vehicle, respective side portions on the other side, and a center on the other side.

### Claim 4 (depends on 1)

The vehicle surrounding information acquiring apparatus according to claim 1, further comprising:
an image detector arranged on one side of the vehicle at a roof of the vehicle and configured to detect an object from an image capturing a periphery of the vehicle;
a first processor configured to generate target information by combining a detection result of the radar detector and a detection result of the image detector;
a second processor configured to generate target information by combining a detection result of the lidar detector and the detection result of the image detector; and
a third processor configured to generate target information of the periphery of the vehicle by integrating the target information generated by the first processor and the target information generated by the second processor.

### Claim 5 (depends on 4)

The vehicle surrounding information acquiring apparatus according to claim 4, wherein the image detector includes:
a first image detector connected via a first communication line to the radar detector and the first processor arranged in the vehicle; and
a second image detector connected via a second communication line to the lidar detector and the second processor arranged in the vehicle.

### Claim 6 (depends on 1)

The vehicle surrounding information acquiring apparatus according to claim 1, wherein a detection distance of the radar detector arranged at the center on one side of the vehicle is set to be longer than detection distances of the radar detectors arranged at four corners of the respective corner portions on one side and the other side of the vehicle.

### Claim 7 (depends on 1)

A vehicle comprising a vehicle surrounding information acquiring apparatus defined by claim 1.