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1. (WO2018179965) OBSTACLE SENSING DEVICE
Latest bibliographic data on file with the International BureauSubmit observation

Pub. No.: WO/2018/179965 International Application No.: PCT/JP2018/005300
Publication Date: 04.10.2018 International Filing Date: 15.02.2018
IPC:
G08G 1/16 (2006.01) ,G01S 13/86 (2006.01) ,G01S 13/93 (2006.01) ,G01S 15/93 (2006.01) ,G01S 17/87 (2006.01) ,G01S 17/93 (2006.01) ,G06T 1/00 (2006.01) ,G06T 7/00 (2017.01)
G PHYSICS
08
SIGNALLING
G
TRAFFIC CONTROL SYSTEMS
1
Traffic control systems for road vehicles
16
Anti-collision systems
G PHYSICS
01
MEASURING; TESTING
S
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
13
Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
86
Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
G PHYSICS
01
MEASURING; TESTING
S
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
13
Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88
Radar or analogous systems, specially adapted for specific applications
93
for anti-collision purposes
G PHYSICS
01
MEASURING; TESTING
S
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
15
Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88
Sonar systems, specially adapted for specific applications
93
for anti-collision purposes
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
87
Combinations of systems using electromagnetic waves other than radio waves
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88
Lidar systems, specially adapted for specific applications
93
for anti-collision purposes
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
T
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
1
General purpose image data processing
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
T
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7
Image analysis, e.g. from bit-mapped to non bit-mapped
Applicants:
株式会社デンソー DENSO CORPORATION [JP/JP]; 愛知県刈谷市昭和町1丁目1番地 1-1, Showa-cho, Kariya-city, Aichi 4488661, JP
Inventors:
松浦 充保 MATSUURA Mitsuyasu; JP
大塚 秀樹 OTSUKA Hideki; JP
柳川 博彦 YANAGAWA Hirohiko; JP
Agent:
特許業務法人ゆうあい特許事務所 YOU-I PATENT FIRM; 愛知県名古屋市中区錦一丁目6番5号 名古屋錦シティビル4階 Nagoya Nishiki City Bldg. 4F 1-6-5, Nishiki, Naka-ku, Nagoya-shi, Aichi 4600003, JP
Priority Data:
2017-06362228.03.2017JP
Title (EN) OBSTACLE SENSING DEVICE
(FR) DISPOSITIF DE DÉTECTION D'OBSTACLE
(JA) 障害物検知装置
Abstract:
(EN) Provided is an obstacle sensing device (20), comprising a range finding sensor (21), an image capture unit (22), and a control unit (26). On the basis of a result of receiving received waves which is performed by the range finding sensor, the control unit acquires an estimated reflection position which is included in an already-irradiated region which has already been irradiated with probe waves. On the basis of the estimated reflection position, the control unit recognizes an external shape of an obstacle. On the basis of a result of image capture performed by the image capture unit, the control unit image-recognizes the obstacle. On the basis of the result of the recognition of the external shape of the obstacle and the result of the image recognition of the obstacle, the control unit acquires a relative position, with respect to a vehicle, of a site of an obstacle which is included in the image which has been captured by the image capture unit, said site being included in an unirradiated region which is located further in the direction of progress of the vehicle than the already-irradiated region.
(FR) L'invention concerne un dispositif de détection d'obstacle (20), comprenant un capteur de télémétrie (21), une unité de capture d'image (22) et une unité de commande (26). Sur la base d'un résultat de réception d'ondes reçues qui est effectuée par le capteur de télémétrie, l'unité de commande acquiert une position de réflexion estimée qui est incluse dans une région déjà exposée qui a déjà été exposée à des ondes de sonde. Sur la base de la position de réflexion estimée, l'unité de commande reconnaît une forme externe d'un obstacle. Sur la base d'un résultat de capture d'image effectuée par l'unité de capture d'image, l'unité de commande reconnaît l'image de l'obstacle. Sur la base du résultat de la reconnaissance de la forme externe de l'obstacle et du résultat de la reconnaissance d'image de l'obstacle, l'unité de commande acquiert une position relative, par rapport à un véhicule, d'un site d'un obstacle qui est inclus dans l'image qui a été capturée par l'unité de capture d'image, ledit site étant inclus dans une région non exposée qui est située plus loin dans la direction de progression du véhicule que la région déjà exposée.
(JA) 障害物検知装置(20)は、測距センサ(21)と、撮像部(22)と、制御部(26)とを備えている。制御部は、測距センサによる受信波の受信結果に基づいて、探査波が既に照射された既照射領域に含まれる推定反射位置を取得する。制御部は、推定反射位置に基づいて、障害物の外形形状を認識する。制御部は、撮像部による撮像結果に基づいて、障害物を画像認識する。制御部は、撮像部により撮像された画像中に含まれる障害物における、既照射領域よりも車両進行方向側の未照射領域に含まれる箇所の、車両に対する相対位置を、障害物の外形形状の認識結果及び画像認識の結果に基づいて取得する。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)