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1. (WO2019026715) CONTROL DEVICE, CONTROL METHOD, PROGRAM, AND MOBILE UNIT
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Pub. No.: WO/2019/026715 International Application No.: PCT/JP2018/027841
Publication Date: 07.02.2019 International Filing Date: 25.07.2018
IPC:
G05D 1/02 (2006.01) ,G01S 17/42 (2006.01) ,G01S 17/87 (2006.01) ,G08G 1/16 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02
Control of position or course in two dimensions
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
02
Systems using the reflection of electromagnetic waves other than radio waves
06
Systems determining position data of a target
42
Simultaneous measurement of distance and other coordinates
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
08
SIGNALLING
G
TRAFFIC CONTROL SYSTEMS
1
Traffic control systems for road vehicles
16
Anti-collision systems
Applicants:
ソニー株式会社 SONY CORPORATION [JP/JP]; 東京都港区港南1丁目7番1号 1-7-1, Konan, Minato-ku, Tokyo 1080075, JP
Inventors:
元山 琢人 MOTOYAMA Takuto; JP
小柳津 秀紀 OYAIZU Hideki; JP
周藤 泰広 SUTOU Yasuhiro; JP
山崎 寿夫 YAMAZAKI Toshio; JP
土場 健太郎 DOBA Kentaro; JP
Agent:
西川 孝 NISHIKAWA Takashi; JP
稲本 義雄 INAMOTO Yoshio; JP
Priority Data:
2017-15147704.08.2017JP
Title (EN) CONTROL DEVICE, CONTROL METHOD, PROGRAM, AND MOBILE UNIT
(FR) DISPOSITIF DE COMMANDE, PROCÉDÉ DE COMMANDE, PROGRAMME ET UNITÉ MOBILE
(JA) 制御装置、および制御方法、プログラム、並びに移動体
Abstract:
(EN) Provided are a control device, control method, program and mobile unit, with which it is possible to appropriately detect obstacles in a region with which the mobile unit can move. A laser rangefinder projects light at a predetermined angle with respect to the vertical direction, while varying the horizontal direction, receives reflected light of the projected light, and detects the direction from which and the distance from which light is reflected from an obstacle or the like, according to the difference in time between the projected time and the received time. The normal line direction of a plane which constitutes a road surface is detected on the basis of a polarized image. The laser rangefinder projects light at a predetermined angle with respect to the vertical direction, in such a manner as to be orthogonal with respect to the normal line direction of the plane which constitutes the road surface. The present invention can be applied to vehicle-mounted systems.
(FR) L'invention concerne un dispositif de commande, un procédé de commande, un programme et une unité mobile, avec lesquels il est possible de détecter de manière appropriée des obstacles dans une région, l'unité mobile pouvant se déplacer avec les obstacles. Un télémètre laser projette de la lumière selon un angle prédéfini par rapport à la direction verticale, tout en faisant varier la direction horizontale, reçoit la lumière réfléchie de la lumière projetée, et détecte la direction à partir de laquelle la lumière est réfléchie et la distance de laquelle la lumière est réfléchie par un obstacle ou similaire, en fonction de la différence de temps entre le temps projeté et le temps reçu. La direction de ligne normale d'un plan qui constitue une surface de roulement est détectée sur la base d'une image polarisée. Le télémètre laser projette de la lumière selon un angle prédéfini par rapport à la direction verticale, de manière à ce que la lumière soit orthogonale par rapport à la direction de ligne normale du plan qui constitue la surface de roulement. La présente invention peut être appliquée à des systèmes montés sur véhicule.
(JA) 本開示は、移動可能領域における障害物を適切に検出できるようにさせることができるようにする制御装置、および制御方法、プログラム、並びに移動体に関する。 レーザレンジファインダは、垂直方向に対して所定の角度で、かつ、水平方向を変化させながら、光を投光すると共に、光の反射光を受光し、投光した時刻と受光した時刻との差分時間に応じて、障害物等から光が反射した方向および距離を検出する。偏光画像に基づいて、路面を構成する平面の法線方向が検出される。レーザレンジファインダは、路面を構成する平面の法線方向に対して直交するように、垂直方向に対して所定の角度となるように光を投光する。本開示は、車載システムに適用することができる。
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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, JP, 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)