JP2017159882A - 認識結果提示装置、認識結果提示方法、認識対象提示装置及び認識対象提示方法 - Google Patents
認識結果提示装置、認識結果提示方法、認識対象提示装置及び認識対象提示方法 Download PDFInfo
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- JP2017159882A JP2017159882A JP2016210329A JP2016210329A JP2017159882A JP 2017159882 A JP2017159882 A JP 2017159882A JP 2016210329 A JP2016210329 A JP 2016210329A JP 2016210329 A JP2016210329 A JP 2016210329A JP 2017159882 A JP2017159882 A JP 2017159882A
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Abstract
【解決手段】認識結果提示装置は、人物が出現する道路上に認識対象提示装置によって形成された人物出現領域を認識対象として検出する領域検出部13と、人物に対して、領域検出部13によって認識対象が検出されることによって自動運転車両が人物出現領域を認識していることを示す認識結果を提示する提示部114とを備える。
【選択図】図3
Description
上記のように、将来、自律運転車両が普及するようになると、自律運転車両によりバレーパーキングが行われる。この場合、既に停車している車両の近傍を自律運転車両が通過することになるが、停車している車両から降車する人物は、自身が自律運転車両によって認識されているか否かが分からず、自律運転車両の前を横断することが可能であるか否かを判断することができない。
図1は、本実施の形態1に係る自動運転車両の構成を示すブロック図である。図1に示す自動運転車両1は、自動運転システム101、指示器102、車両制御プロセッサ103、ブレーキ制御システム104、アクセル制御システム105、ステアリング制御システム106、車両ナビゲーションシステム107及びGPS(Global Positioning System)108を備える。
図16は、本実施の形態2における認識結果提示装置の構成を示す図である。図16に示す認識結果提示装置は、カメラ32、領域検出部13、座標変換部14、危険度判定部15、提示方法決定部16、提示部114及び座標変換マップデータ格納部221を備える。
2 人物
11 レーン検出部
12 領域形成判断部
13 領域検出部
14 座標変換部
15 危険度判定部
16 提示方法決定部
21 地図データ
22 座標変換マップデータ
31 ドア開閉検知部
32 カメラ
41 領域照射部
42 レーザ照射部
43 表示部
44 音出力部
101 自動運転システム
102 指示器
103 車両制御プロセッサ
104 ブレーキ制御システム
105 アクセル制御システム
106 ステアリング制御システム
107 車両ナビゲーションシステム
108 GPS
111 プロセッサ
112 メモリ
113 ユーザ入力部
114 提示部
115 センサ
121 自動運転プログラム
122 データ
221 座標変換マップデータ格納部
Claims (15)
- 自律移動体の進行方向に認識対象提示装置によって提示される認識対象を認識した結果を提示する認識結果提示装置であって、
人物が出現する道路上に前記認識対象提示装置によって形成された人物出現領域を前記認識対象として検出する検出部と、
前記人物に対して、前記検出部によって前記認識対象が検出されることによって前記自律移動体が前記人物出現領域を認識していることを示す認識結果を提示する提示部と、
を備える認識結果提示装置。 - 前記提示部は、前記人物出現領域に向けて光を照射する光照射部を含む、
請求項1記載の認識結果提示装置。 - 前記光照射部は、前記人物出現領域に向けて前記人物出現領域と同じ形状の光を照射するとともに、前記人物出現領域と前記自律移動体が存在する位置との間の地面上に直線状の光を照射する、
請求項2記載の認識結果提示装置。 - 前記光照射部は、前記人物出現領域の色とは異なる色の前記光を前記人物出現領域に向けて照射し、前記人物出現領域の色を変化させる、
請求項2又は3記載の認識結果提示装置。 - 前記光照射部は、前記自律移動体が前記人物出現領域を認識していることを示す文字を含む画像を、前記人物出現領域に投影する、
請求項2〜4のいずれか1項に記載の認識結果提示装置。 - 前記光照射部は、前記自律移動体が前記人物出現領域を認識していることを示す模様を含む画像を、前記人物出現領域に投影する、
請求項2〜4のいずれか1項に記載の認識結果提示装置。 - 前記光照射部は、前記人物出現領域のうちの前記自律移動体が走行する範囲のみに前記光を照射する、
請求項1〜6のいずれか1項に記載の認識結果提示装置。 - 前記提示部は、前記人物出現領域が存在する方向へ所定の音を出力する音出力部を含む、
請求項1〜7のいずれか1項に記載の認識結果提示装置。 - 前記自律移動体の進行方向の画像を撮影する撮影部をさらに備え、
前記検出部は、前記画像内における前記人物出現領域を検出し、
前記提示部は、前記自律移動体の表面に配置され、前記検出部によって検出された前記人物出現領域を識別可能な態様で表した前記画像を表示する表示部を含む、
請求項1記載の認識結果提示装置。 - 前記人物出現領域は、前記認識対象提示装置が前記検出部で検出可能な所定の色の光を前記道路上に照射することによって形成される、
請求項1〜9のいずれか1項に記載の認識結果提示装置。 - 前記人物出現領域は、前記認識対象提示装置が前記検出部で検出可能な所定のパターンの光を前記道路上に照射することによって形成される、
請求項1〜10のいずれか1項に記載の認識結果提示装置。 - 前記人物出現領域は、前記認識対象提示装置が前記検出部で検出可能な時間変化する光を前記道路上に照射することによって形成される、
請求項1〜11のいずれか1項に記載の認識結果提示装置。 - 自律移動体の進行方向に認識対象提示装置によって提示される認識対象を認識した結果を提示する認識結果提示装置における認識結果提示方法であって、
人物が出現する道路上に前記認識対象提示装置によって形成された人物出現領域を前記認識対象として検出し、
前記人物に対して、前記認識対象が検出されることによって前記自律移動体が前記人物出現領域を認識していることを示す認識結果を提示する、
認識結果提示方法。 - 自律移動体によって認識可能な認識対象を提示する認識対象提示装置であって、
前記認識対象であり、人物が出現する位置を示す人物出現領域を道路上に形成するか否かを判断する領域形成判断部と、
前記領域形成判断部によって前記人物出現領域を形成すると判断された場合、前記人物出現領域を前記道路上に形成する領域形成部と、
を備える認識対象提示装置。 - 自律移動体によって認識可能な認識対象を提示する認識対象提示装置における認識対象提示方法であって、
前記認識対象であり、人物が出現する位置を示す人物出現領域を道路上に形成するか否かを判断し、
前記人物出現領域を形成すると判断した場合、前記人物出現領域を前記道路上に形成する、
認識対象提示方法。
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EP3533665B1 (en) | 2020-10-07 |
CN107176095A (zh) | 2017-09-19 |
CN107176095B (zh) | 2021-12-24 |
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JP6788477B2 (ja) | 2020-11-25 |
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