JP6790998B2 - 障害物検知装置および制御装置 - Google Patents

障害物検知装置および制御装置 Download PDF

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Publication number
JP6790998B2
JP6790998B2 JP2017089962A JP2017089962A JP6790998B2 JP 6790998 B2 JP6790998 B2 JP 6790998B2 JP 2017089962 A JP2017089962 A JP 2017089962A JP 2017089962 A JP2017089962 A JP 2017089962A JP 6790998 B2 JP6790998 B2 JP 6790998B2
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obstacle
distance
vehicle
sonar
unit
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Japanese (ja)
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JP2018189422A (ja
JP2018189422A5 (enExample
Inventor
充保 松浦
充保 松浦
岳人 原田
岳人 原田
前田　優
優 前田
博彦 柳川
博彦 柳川
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Denso Corp
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Denso Corp
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Publication date
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Priority to JP2017089962A priority Critical patent/JP6790998B2/ja
Priority to CN201880027990.4A priority patent/CN110573905B/zh
Priority to DE112018002247.1T priority patent/DE112018002247B4/de
Priority to PCT/JP2018/010273 priority patent/WO2018198574A1/ja
Publication of JP2018189422A publication Critical patent/JP2018189422A/ja
Publication of JP2018189422A5 publication Critical patent/JP2018189422A5/ja
Priority to US16/662,380 priority patent/US20200057897A1/en
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Geometry (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Image Analysis (AREA)
JP2017089962A 2017-04-28 2017-04-28 障害物検知装置および制御装置 Active JP6790998B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2017089962A JP6790998B2 (ja) 2017-04-28 2017-04-28 障害物検知装置および制御装置
CN201880027990.4A CN110573905B (zh) 2017-04-28 2018-03-15 障碍物检知装置
DE112018002247.1T DE112018002247B4 (de) 2017-04-28 2018-03-15 Hindernisabtastvorrichtung
PCT/JP2018/010273 WO2018198574A1 (ja) 2017-04-28 2018-03-15 障害物検知装置
US16/662,380 US20200057897A1 (en) 2017-04-28 2019-10-24 Obstacle sensing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017089962A JP6790998B2 (ja) 2017-04-28 2017-04-28 障害物検知装置および制御装置

Publications (3)

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JP2018189422A JP2018189422A (ja) 2018-11-29
JP2018189422A5 JP2018189422A5 (enExample) 2019-07-04
JP6790998B2 true JP6790998B2 (ja) 2020-11-25

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JP2017089962A Active JP6790998B2 (ja) 2017-04-28 2017-04-28 障害物検知装置および制御装置

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US (1) US20200057897A1 (enExample)
JP (1) JP6790998B2 (enExample)
CN (1) CN110573905B (enExample)
DE (1) DE112018002247B4 (enExample)
WO (1) WO2018198574A1 (enExample)

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EP3776128B1 (en) * 2018-03-26 2024-02-21 Jabil Inc. Apparatus, system, and method of using depth assessment for autonomous robot navigation
JP6930512B2 (ja) * 2018-10-19 2021-09-01 株式会社デンソー 物体検知装置、物体検知方法およびプログラム
JP2020095623A (ja) * 2018-12-14 2020-06-18 株式会社デンソーテン 画像処理装置および画像処理方法
JP7220358B2 (ja) * 2018-12-21 2023-02-10 株式会社タダノ 作業車
JP7205368B2 (ja) * 2019-04-23 2023-01-17 株式会社Soken 物体検知装置
JP6945776B2 (ja) * 2019-08-07 2021-10-06 三菱電機株式会社 障害物検出装置
JP7078587B2 (ja) * 2019-09-30 2022-05-31 本田技研工業株式会社 走行支援システム、走行支援方法およびプログラム
JP7406350B2 (ja) * 2019-11-15 2023-12-27 日本信号株式会社 物体検知装置及び物体検知プログラム
KR102333240B1 (ko) * 2019-12-18 2021-12-01 현대모비스 주식회사 차량용 물체 인식 장치 및 방법
CN111198385A (zh) * 2019-12-26 2020-05-26 北京旷视机器人技术有限公司 障碍物检测方法、装置、计算机设备和存储介质
JP7243674B2 (ja) * 2020-04-28 2023-03-22 株式会社デンソー 車載構造
JP7600549B2 (ja) * 2020-06-12 2024-12-17 株式会社アイシン 運転支援装置
JP2022014975A (ja) * 2020-07-08 2022-01-21 トヨタ自動車株式会社 車両周辺監視装置
US12259470B2 (en) * 2021-03-30 2025-03-25 Panasonic Automotive Systems Co., Ltd. Object detection device, vehicle, method of setting wave receiving period in object detection device, and method of setting detection sensitivity in object detection device
JP7567724B2 (ja) * 2021-08-31 2024-10-16 株式会社デンソー 物体検知装置、物体検知方法
DE102021213034A1 (de) 2021-11-19 2023-05-25 Robert Bosch Gesellschaft mit beschränkter Haftung Korrektur von ultraschallbasierten Messungen mittels Winkelinformationen
CN114771408A (zh) * 2022-03-28 2022-07-22 海尔(深圳)研发有限责任公司 用于车辆的置顶式空调器及其控制方法
CN116400362B (zh) * 2023-06-08 2023-08-08 广汽埃安新能源汽车股份有限公司 一种行车边界检测方法、装置、存储介质及设备

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Also Published As

Publication number Publication date
JP2018189422A (ja) 2018-11-29
CN110573905A (zh) 2019-12-13
US20200057897A1 (en) 2020-02-20
CN110573905B (zh) 2023-05-02
DE112018002247B4 (de) 2023-07-06
DE112018002247T5 (de) 2020-01-16
WO2018198574A1 (ja) 2018-11-01

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