PROBLEM TO BE SOLVED: To provide a mobile vehicle that is less likely to falsely detect a road surface as an obstruction while reducing cost.SOLUTION: An electric wheelchair 1 comprises; a detection device 40 configured to acquire three-dimensional data D of a detected object in front of the electric wheelchair 1; a projection unit 54 configured to project the three-dimensional data D onto a planar area C that is divided into a plurality of zones G in the horizontal direction, and identifies zones G with the three-dimensional data D as occupied zones F; a road surface determination unit 56 configured to recognize increased occupied zones F as a road surface when an increase in the number of occupied zones F during a predetermined time period exceeds a determination threshold Th; and an obstruction recognition unit 58 configured to recognize all the occupied zones F other than the occupied zones F determined to be the road surface as an obstruction.SELECTED DRAWING: Figure 3

    【課題】 コスト低減を図りつつ、路面を障害物として誤検知されるのを抑制することができる移動体を提供する。【解決手段】 電動車椅子1は、電動車椅子1の前方にある被検知物の三次元データDを取得する検知装置40と、三次元データDを、水平方向に複数の区域Gに分割された平面領域Cに投影し、区域Gに三次元データDがある場合に、区域Gを占有区域Fと判断する投影部54と、規定時間間隔の間に、占有区域Fの増大数が、判定閾値Thを越えた場合に、増大した占有区域Fを路面と判定する路面判定部56と、占有区域Fのうち、路面と判定された占有区域Fを除外した占有区域Fを障害物と認識する障害物認識部58と、を有する。【選択図】 図3


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    Titel :

    MOBILE VEHICLE


    Weitere Titelangaben:

    移動体


    Beteiligte:
    OCHIAI HIROTOSHI (Autor:in) / ANDO MITSUHIRO (Autor:in) / YANG SEONGJUN (Autor:in) / FURUTA TAKAYUKI (Autor:in) / SHIMIZU MASAHARU (Autor:in) / YAMATO HIDEAKI (Autor:in) / TODA KENGO (Autor:in) / KODACHI TAKASHI (Autor:in)

    Erscheinungsdatum :

    2017-06-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01S RADIO DIRECTION-FINDING , Funkpeilung



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