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DEVICE, METHOD AND PROGRAM FOR OBSTACLE DETECTION
To provide a device, a method and a program for obstacle detection, which are capable of stopping a door just before colliding with an obstacle and avoiding a collision with an obstacle in various circumstances.SOLUTION: An obstacle detection device 10 comprises: an ultrasonic sensor signal processing part 22 which, on the basis of an output from ultrasonic sensors 12L, 12R which are disposed on vehicle doors and detect a distance to an obstacle in a prescribed detection range by an ultrasonic wave, detects at least a distance from among the distance to the obstacle and a shape of the obstacle; a camera image processing part 21 which, on the basis of an output from cameras 11L, 11R of the vehicle which capture an image of an area including a moving range of the vehicle door during opening and the detection range of the ultrasonic sensor, detects the distance to the obstacle and the shape of the obstacle; and a controller 13 which performs opening operation control of opening the door up to a pop-up position if the distance to the obstacle is less than a prescribed distance, on the basis of a detection result of the ultrasonic sensor signal processing part and a detection result of the camera image processing part.SELECTED DRAWING: Figure 1
【課題】障害物に衝突する直前でドアを停止させたり、様々な状況において障害物への衝突を回避したりすることが可能な障害物検出装置、方法及びプログラムを提供する。【解決手段】障害物検出装置10は、超音波により所定の検出範囲内の障害物までの距離を検出する車両のドアに配置された超音波センサ12L、12Rの出力に基づいて、障害物までの距離及び障害物の形状のうち、少なくとも距離を検出する超音波センサ信号処理部22と、車両のドアの開時の軌跡範囲及び超音波センサの検出範囲を含む領域を撮像する車両のカメラ11L、11Rの出力に基づいて、障害物までの距離及び障害物の形状を検出するカメラ画像処理部21と、超音波センサ信号処理部の検出結果及びカメラ画像処理部の検出結果に基づいて、障害物までの距離が所定距離未満である場合には、ドアをポップアップ位置まで開く開動作制御を行うコントローラ13と、を備える。【選択図】図1
DEVICE, METHOD AND PROGRAM FOR OBSTACLE DETECTION
To provide a device, a method and a program for obstacle detection, which are capable of stopping a door just before colliding with an obstacle and avoiding a collision with an obstacle in various circumstances.SOLUTION: An obstacle detection device 10 comprises: an ultrasonic sensor signal processing part 22 which, on the basis of an output from ultrasonic sensors 12L, 12R which are disposed on vehicle doors and detect a distance to an obstacle in a prescribed detection range by an ultrasonic wave, detects at least a distance from among the distance to the obstacle and a shape of the obstacle; a camera image processing part 21 which, on the basis of an output from cameras 11L, 11R of the vehicle which capture an image of an area including a moving range of the vehicle door during opening and the detection range of the ultrasonic sensor, detects the distance to the obstacle and the shape of the obstacle; and a controller 13 which performs opening operation control of opening the door up to a pop-up position if the distance to the obstacle is less than a prescribed distance, on the basis of a detection result of the ultrasonic sensor signal processing part and a detection result of the camera image processing part.SELECTED DRAWING: Figure 1
【課題】障害物に衝突する直前でドアを停止させたり、様々な状況において障害物への衝突を回避したりすることが可能な障害物検出装置、方法及びプログラムを提供する。【解決手段】障害物検出装置10は、超音波により所定の検出範囲内の障害物までの距離を検出する車両のドアに配置された超音波センサ12L、12Rの出力に基づいて、障害物までの距離及び障害物の形状のうち、少なくとも距離を検出する超音波センサ信号処理部22と、車両のドアの開時の軌跡範囲及び超音波センサの検出範囲を含む領域を撮像する車両のカメラ11L、11Rの出力に基づいて、障害物までの距離及び障害物の形状を検出するカメラ画像処理部21と、超音波センサ信号処理部の検出結果及びカメラ画像処理部の検出結果に基づいて、障害物までの距離が所定距離未満である場合には、ドアをポップアップ位置まで開く開動作制御を行うコントローラ13と、を備える。【選択図】図1
DEVICE, METHOD AND PROGRAM FOR OBSTACLE DETECTION
障害物検出装置、方法及びプログラム
KATAHARA KOTA (author) / MIYASHIRO RYU (author)
2022-06-09
Patent
Electronic Resource
Japanese
IPC:
B60J
WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES
,
Fenster, Windschutzscheiben und bewegbare Dächer, Türen oder Ähnliches für Fahrzeuge
/
E05F
DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION
,
Vorrichtungen zum Bewegen der Flügel in die Offen- oder Schließstellung
/
G01S
RADIO DIRECTION-FINDING
,
Funkpeilung
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