JP2019020769A5 - Control device - Google Patents

Description

The present disclosure relates to a control device that controls an obstacle detection operation in an obstacle detection device that is configured to detect an obstacle existing outside the moving object by being mounted on the moving object .

Claims (6)

A control device for controlling the obstacle detection operation of the obstacle existing in the outside of the moving body by being mounted harm object detection apparatus impaired configured to sense the (B) (1) to the mobile (V) (10)
With a detection distance corresponding to the distance between the front Symbol obstacle by receiving the reflected wave by the obstacle of the search wave with the search wave transmits toward the outside of the moving body to move before Symbol mobile wherein each acquisition of the detection distance definitive the distance measuring unit which is provided so as to repeatedly acquire (2) obtains the change amount between the currently obtained the detection distance and the detection distance acquired previously, the acquired A frequency distribution acquisition unit (101) provided to acquire the frequency distribution of the change amount;
A type determining unit (104) provided to determine the type of the obstacle based on the frequency distribution acquired by the frequency distribution acquiring unit;
The control device provided with. The type determination unit,
A first condition based on the first number that is the frequency of the small change area in which the absolute value of the change amount is small;
A second condition based on a second frequency, which is a frequency of a large change area where the absolute value of the change amount is large,
A third condition based on a relationship between the first number and the second frequency,
Based on, provided to determine whether the obstacle is a vehicle,
The control device according to claim 1. The search by the obstacle corresponding to each of the plurality of detection distances acquired by the distance measurement unit based on the movement state of the moving object acquired by the movement state acquisition unit (3) and the detection distance. A reflection position acquisition unit (102 ) provided to acquire the estimated reflection position of the wave;
The type determination unit determines whether the obstacle is a vehicle based on the distribution state of the plurality of estimated reflection positions acquired corresponding to one obstacle by the reflection position acquisition unit. Was provided,
The control device according to claim 1. The search by the obstacle corresponding to each of the plurality of detection distances acquired by the distance measurement unit based on the movement state of the moving object acquired by the movement state acquisition unit (3) and the detection distance. A reflection position acquisition unit (102) provided to acquire the estimated reflection position of the wave;
End position estimation provided for estimating the end position of the obstacle based on the estimated reflection position located at the end in the moving direction of the moving body among the plurality of estimated reflection positions. Part (103),
An end position correction unit (105) provided to correct the end position based on the type determined by the type determination unit;
Further equipped with
The control device according to claim 1. The end position correction unit is provided so as to correct the end position based on a vehicle size defined in a vehicle standard, when the type determined by the type determination unit is the vehicle,
The control device according to claim 4. The determination result of the type may be used to detect a parking space (PS) between the plurality of obstacles or to calculate a movement condition for moving the moving body while avoiding a collision with the obstacle. It has become,
The control device according to claim 1.