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1. (WO2018198574) OBSTACLE DETECTION DEVICE
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Pub. No.: WO/2018/198574 International Application No.: PCT/JP2018/010273
Publication Date: 01.11.2018 International Filing Date: 15.03.2018
IPC:
G01S 15/93 (2006.01) ,G01S 15/08 (2006.01) ,G06T 7/00 (2017.01) ,G08G 1/16 (2006.01)
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
15
Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
02
using reflection of acoustic waves
06
Systems determining position data of a target
08
Systems for measuring distance only
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
G PHYSICS
08
SIGNALLING
G
TRAFFIC CONTROL SYSTEMS
1
Traffic control systems for road vehicles
16
Anti-collision systems
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
原田 岳人 HARADA Taketo; JP
前田 優 MAEDA Yu; 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:
2017-08996228.04.2017JP
Title (EN) OBSTACLE DETECTION DEVICE
(FR) DISPOSITIF DE DÉTECTION D’OBSTACLE
(JA) 障害物検知装置
Abstract:
(EN) In the present invention, a position acquisition unit (261) acquires relative position information for a vehicle and an obstacle on the basis of a received wave received by a distance measurement sensor (21). A shape recognition unit (262) recognizes the shape of the obstacle on the basis of image information acquired by an imaging unit (22). A detection processing unit (263) detects the obstacle on the basis of the relative position information acquired by the position acquisition unit and a shape recognition result from the shape recognition unit. A detection processing unit determines whether the obstacle height is greater than or equal to a prescribed height. If the obstacle height according to the shape recognition result from the shape recognition unit is less than the prescribed height, the detection processing unit discards the relative position information for the obstacle.
(FR) Dans la présente invention, une unité d’acquisition de position (261) acquiert des informations de position relative pour un véhicule et un obstacle sur la base d’une onde reçue qui est reçue par un capteur de mesure de distance (21). Une unité de reconnaissance de forme (262) reconnaît la forme de l’obstacle sur la base d’informations d’image acquises par une unité d’imagerie (22). Une unité de traitement de détection (263) détecte l’obstacle sur la base des informations de position relative acquises par l’unité d’acquisition de position et d’un résultat de reconnaissance de forme provenant de l’unité de reconnaissance de forme. Une unité de traitement de détection détermine si la hauteur d’obstacle est supérieure ou égale à une hauteur prescrite. Si la hauteur d’obstacle selon le résultat de reconnaissance de forme provenant de l’unité de reconnaissance de forme est inférieure à la hauteur prescrite, l’unité de traitement de détection rejette les informations de position relative pour l’obstacle.
(JA) 位置取得部(261)は、測距センサ(21)により受信された受信波に基づいて、自車両と障害物との相対位置情報を取得する。形状認識部(262)は、撮像部(22)により取得された画像情報に基づいて、障害物の形状認識を実行する。検知処理部(263)は、位置取得部により取得された相対位置情報と、形状認識部による形状認識結果とに基づいて、障害物を検知する。検知処理部は、障害物の高さが所定高さ以上であるか否かを判定する。検知処理部は、形状認識部による形状認識結果にて障害物の高さが所定高さ未満である場合、当該障害物に対応する相対位置情報を破棄する。
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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 Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (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)