PROBLEM TO BE SOLVED: To provide a moving body capable of detecting with high probability a lying and stationary human or an object which is highly likely to be a human, and to provide an obstacle detection method of the same.SOLUTION: The obstacle detection method includes: extracting a low obstacle 5 having a height less than a travelling threshold from the height of an obstacle detected by a laser radar device (S2); calculating a feature quantity X including the length, width, area, or perimeter of the low obstacle 5 (S3); calculating from the feature quantity X a degree of human-like features Y indicative of a possibility that the low obstacle 5 is a human (S4); and defining as a non-travellable region a low obstacle 5a that is highly likely to be a human from the degree of human-like features Y (S5).SELECTED DRAWING: Figure 2
【課題】横臥状態で静止している人間又は人間である可能性が高い物体を、高い確率で検出することができる移動体とその障害物検出方法を提供する。【解決手段】レーザレーダ装置で検出された障害物の高さから走行閾値未満の低障害物5を抽出し(S2)、低障害物5の長さ、幅、面積、又は周長を含む特徴量Xを算出し(S3)、特徴量Xから低障害物5が人間である可能性を示す人間らしさ度Yを算出し(S4)、人間らしさ度Yから人間である可能性の高い低障害物5aを走行不能領域とする(S5)。【選択図】図2
MOVING BODY AND OBSTACLE DETECTION METHOD OF THE SAME
移動体とその障害物検出方法
2017-02-16
Patent
Elektronische Ressource
Japanisch
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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