JP2017111682A - 物体検知装置、物体検知方法 - Google Patents
物体検知装置、物体検知方法 Download PDFInfo
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Abstract
Description
・実施形態では、横速度の上限値を定めるうえで、相対角度が90°である場合を最大とし、相対角度が0°、180°へそれぞれ向かううえで直線的に漸減するように設定している、横速度の上限値と相対角度との関係は実施形態に示したものに限られない。例えば、横速度の上限値を段階的に変化させるものとしてもよい。また、横速度は進行方向への速度に正弦を乗算したものであるから、横速度の上限値を、相対角度が90°である場合を極大値とし、相対角度が0°と180°の場合を0をする正弦波に基づくものとしてもよい。また、他の設定方法を採用してもよい。
Claims (9)
- 自己の周囲において移動する物体を検知する物体検知装置(10)であって、
前記自己の周囲の所定方向に対して直交する方向である横方向における、前記物体の速度及び加速度の少なくとも一方である物体速度値を取得する速度取得部(11)と、
前記所定方向に対する前記物体の移動方向の角度を示す関係である角度情報に基づいて、前記物体速度値の上限を設定する上限設定部(17)と、を備える物体検知装置。 - 前記上限設定部は、前記所定方向と前記物体の前記移動方向との関係が平行に近づくほど、前記上限を小さく設定する、請求項1に記載の物体検知装置。
- 前記上限設定部は、前記物体の種別を取得し、取得した前記種別及び前記関係に基づいて前記上限を設定する、請求項1又は2に記載の物体検知装置。
- 前記種別は自転車を含む、請求項3に記載の物体検知装置。
- 前記種別ごとに前記移動方向への最大速度及び最大加速度の少なくとも一方が予め定められており、
前記上限設定部は、前記関係が直交を含む所定の角度範囲内であることを示す場合、前記上限を前記最大速度及び最大加速度の少なくとも一方よりも大きい値に設定する、請求項3又は4に記載の物体検知装置。 - 前記速度取得部は、周囲に探査波を送信し前記物体により反射された反射波を受信する計測装置(21)の計測結果に基づいて前記物体速度値を取得し、
前記上限設定部は、周囲を撮像する撮像装置(22)から前記物体の画像を取得し、その画像に基づいて前記角度情報を取得する、請求項1〜5のいずれか1項に記載の物体検知装置。 - 前記自己は移動体であり、
前記速度取得部は、前記移動体の移動方向に対して直交する横方向において前記移動体の側への前記物体速度値を取得し、
前記上限設定部は、前記移動体の移動方向に対する前記物体の移動方向の相対角度を示す関係である角度情報に基づいて、前記物体速度値の上限を設定する、請求項1〜6のいずれか1項に記載の物体検知装置。 - 前記移動体の移動方向前方に幅を有する領域を設定する領域設定部(13)と、
前記物体が前記領域内に位置する場合、前記移動体と前記物体とが衝突する可能性があると判定する判定部(15)と、をさらに備え、
前記領域設定部は、前記物体速度値が大きいほど、前記領域の幅を大きく設定する、請求項7に記載の物体検知装置。 - 自己の周囲において移動する物体を検知する物体検知装置(10)が実行する物体検知方法であって、
前記自己の周囲の所定方向に対して直交する方向である横方向における、前記物体の速度及び加速度の少なくとも一方である物体速度値を取得する速度取得ステップと、
前記所定方向に対する前記物体の移動方向の角度を示す関係である角度情報に基づいて、前記物体速度値の上限を設定する上限設定ステップと、を実行する物体検知方法。
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CN111497837A (zh) * | 2019-01-29 | 2020-08-07 | 郑州宇通客车股份有限公司 | 一种基于前向感知的车辆控制方法及*** |
CN111409631B (zh) * | 2020-04-10 | 2022-01-11 | 新石器慧通(北京)科技有限公司 | 一种车辆行驶的控制方法、装置、车辆及存储介质 |
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DE102017205030A1 (de) * | 2017-03-24 | 2018-09-27 | Volkswagen Aktiengesellschaft | Fahrassistenzsystembasiertes Lenkunterstützungsverfahren, Lenkunterstützungssystem und Fahrzeug |
JP6806250B2 (ja) * | 2017-06-20 | 2021-01-06 | 日本電気株式会社 | 位置測定装置、位置測定方法およびプログラム |
KR102054926B1 (ko) * | 2018-02-27 | 2019-12-12 | 주식회사 만도 | Free Space 신호 기반 근거리 컷인 차량 검출 시스템 및 방법 |
DE102019120022A1 (de) * | 2019-07-24 | 2021-01-28 | Jungheinrich Aktiengesellschaft | Flurförderzeug mit einer Objekterkennung |
JP2022032109A (ja) * | 2020-08-11 | 2022-02-25 | 株式会社デンソー | 衝突判定装置、衝突判定方法および衝突回避システム |
KR20230055722A (ko) * | 2021-10-19 | 2023-04-26 | 현대모비스 주식회사 | 차량의 타겟 감지 시스템 및 방법 |
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