JPWO2021229722A5

JPWO2021229722A5 -

Info

Publication number: JPWO2021229722A5
Application number: JP2022522170A
Authority: JP
Filing date: 2020-05-13
Publication date: 2022-08-23
Anticipated expiration: 2040-05-13

Description

本開示に係る障害物検知装置は、車両に設けられた測距センサを用いて移動中の車両に対する周囲領域における障害物を検知することにより、障害物に対応する情報を取得する障害物検知部と、情報に含まれる複数個の測距値の各々が複数個の距離区間のうちのいずれに含まれるものであるかを表す度数分布に対応するマップを生成するマップ生成部と、マップにおける複数個の度数群のうちの第１閾値を超える度数を含む度数群を抽出することにより、マップにおけるピーク形状を抽出するピーク形状抽出部と、ピーク形状に基づき障害物の高さを判別する判別部と、を備えるものである。 The obstacle detection device according to the present disclosure includes an obstacle detection unit that acquires information corresponding to obstacles by detecting obstacles in an area surrounding a moving vehicle using a range sensor provided in the vehicle. a map generation unit that generates a map corresponding to a frequency distribution indicating in which of the plurality of distance intervals each of the plurality of distance measurement values included in the information is included; A peak shape extraction unit that extracts a peak shape in a map by extracting a frequency group containing frequencies exceeding a first threshold from among the frequency groups, and a discrimination unit that determines the height of an obstacle based on the peak shape. and

Claims

an obstacle detection unit that acquires information corresponding to an obstacle by detecting an obstacle in an area surrounding the moving vehicle using a ranging sensor provided in the vehicle;
a map generation unit that generates a map corresponding to a frequency distribution indicating in which of a plurality of distance intervals each of the plurality of distance measurement values included in the information is included;
a peak shape extracting unit for extracting a peak shape in the map by extracting a frequency group including frequencies exceeding a first threshold among a plurality of frequency groups in the map;
a determination unit that determines the height of the obstacle based on the peak shape;
Obstacle detection device with.

an obstacle detection unit that acquires information corresponding to an obstacle by detecting an obstacle in an area surrounding the moving vehicle using a ranging sensor provided in the vehicle;
a map generation unit that generates a map corresponding to a frequency distribution of a plurality of measured distance values included in the information;
a peak shape extracting unit for extracting a peak shape in the map by extracting a frequency group including frequencies exceeding a first threshold among a plurality of frequency groups in the map;
a determination unit that determines the height of the obstacle based on the peak shape;
with
The determination unit determines whether the obstacle is a traveling obstacle or a road obstacle by comparing the height of the peak shape with a second threshold larger than the first threshold. and obstacle detection device .

2. The obstacle according to claim 1, wherein the determination unit determines whether the obstacle is a traveling obstacle or a road obstacle by comparing the width of the peak shape with a width threshold. detection device.

an obstacle detection unit that acquires information corresponding to an obstacle by detecting an obstacle in an area surrounding the moving vehicle using a ranging sensor provided in the vehicle;
a map generation unit that generates a map corresponding to a frequency distribution of a plurality of measured distance values included in the information;
a peak shape extracting unit for extracting a peak shape in the map by extracting a frequency group including frequencies exceeding a first threshold among a plurality of frequency groups in the map;
a determination unit that determines the height of the obstacle based on the peak shape;
with
The discriminating unit discriminates whether or not the obstacle is an implanted obstacle based on the amount of deviation of the position of the bin having the maximum frequency in the peak shape with respect to the center of the peak shape. obstacle detection device .

an obstacle detection unit that acquires information corresponding to an obstacle by detecting an obstacle in an area surrounding the moving vehicle using a ranging sensor provided in the vehicle;
a map generation unit that generates a map corresponding to a frequency distribution of a plurality of measured distance values included in the information;
a peak shape extracting unit for extracting a peak shape in the map by extracting a frequency group including frequencies exceeding a first threshold among a plurality of frequency groups in the map;
a determination unit that determines the height of the obstacle based on the peak shape;
with
The obstacle detection unit detects the obstacle in a left area or a right area with respect to the running vehicle,
A correction unit that corrects the plurality of distance measurement values so that the array direction of the plurality of reflection points corresponding to the plurality of distance measurement values is parallel to the moving direction of the vehicle. obstacle detection device .

an obstacle detection unit that acquires information corresponding to an obstacle by detecting an obstacle in an area surrounding the moving vehicle using a ranging sensor provided in the vehicle;
a map generation unit that generates a map corresponding to a frequency distribution of a plurality of measured distance values included in the information;
a peak shape extracting unit for extracting a peak shape in the map by extracting a frequency group including frequencies exceeding a first threshold among a plurality of frequency groups in the map;
a determination unit that determines the height of the obstacle based on the peak shape;
with
The obstacle detection unit detects the obstacle in a front area or a rear area with respect to the running vehicle,
A harmful object detection device comprising: a correction unit that corrects the plurality of measured distance values according to the amount of movement of the vehicle.

2. The obstacle detection according to claim 1, wherein the peak shape extraction unit sets the first threshold value by multiplying the number of transmissions of the search wave corresponding to the plurality of measured distance values by a first ratio. Device.

3. The obstacle detection device according to claim 2, wherein the determination unit sets the second threshold by multiplying the number of transmissions of the search waves corresponding to the plurality of distance measurement values by a second ratio.

4. The method according to claim 3, wherein the discriminating unit extracts bins having a frequency exceeding a third threshold in the peak shape, and calculates the width of the peak shape based on the number of the extracted bins. Obstacle detection device.

10. The determination unit extracts a bin having a maximum frequency in the peak shape, and multiplies the frequency in the extracted bin by a third ratio to set the third threshold. Obstacle sensing device as described.

The obstacle detection device according to claim 1;
a parking support control unit that executes parking support control based on the detection result of the obstacle detection unit and the determination result of the determination unit;
A parking assistance device comprising:

an obstacle detection device according to claim 6;
a collision avoidance control unit that executes collision avoidance control based on the detection result of the obstacle detection unit and the determination result of the determination unit;
collision avoidance device.

an obstacle detection unit acquiring information corresponding to the obstacle by detecting the obstacle in an area surrounding the moving vehicle using a range sensor provided in the vehicle;
a map generation unit generating a map corresponding to a frequency distribution indicating in which of a plurality of distance intervals each of the plurality of distance measurement values included in the information is included;
a peak shape extraction unit extracting a peak shape in the map by extracting a frequency group including a frequency exceeding a first threshold from among a plurality of frequency groups in the map;
a determination unit determining the height of the obstacle based on the peak shape;
An obstacle detection method comprising: