To prevent the ground from being erroneously determined as an obstacle even when oscillation by an impact, unevenness of the ground or an inclination change of the ground occurs, by a simple structure and a simple algorithm, in an obstacle determination device including a range-finding device.SOLUTION: An obstacle determination device includes: a range-finding device 10; an obstacle determination part for determining presence/absence of an obstacle in a measurement space region in front of the range-finding device 10; and an inclination detection part 18 for detecting tilting (inclination) of the range-finding device 10. The measurement space region is changed in such a manner that, just like, for example, a measurement space region D1, in the case where the detection result of the inclination detection part 18 shows that there occurs a change in the pitch direction and/or in the roll direction in the inclination of the range-finding device 10, according to the depth in the front direction and/or in the width direction of the measurement space region, the position of the bottom of the measurement space region changes gradually or continuously.SELECTED DRAWING: Figure 4A
【課題】測距装置を備えた障害物判定装置において、簡易な構成と簡易なアルゴリズムにより、衝撃による揺れや地面の凸凹又は地面の傾斜変化が生じた場合でも地面を障害物と誤判定しないようにする。【解決手段】障害物判定装置は、測距装置10と、測距装置10の前方の計測空間領域内の障害物の有無を判定する障害物判定部と、測距装置10の傾き(傾斜)を検知する傾き検知部18と、を備える。上記計測空間領域は、例えば計測空間領域D1のように、傾き検知部18での検知結果が、測距装置10の傾きにピッチ方向及び/又はロール方向への変化が生じたことを示した場合に、上記計測空間領域の前方方向及び/又は幅方向への深度に応じて、上記計測空間領域の底面の位置が段階的又は連続的に変化するように変更される。【選択図】図4A
OBSTACLE DETERMINATION DEVICE, MOVABLE BODY AND OBSTACLE DETERMINATION METHOD
障害物判定装置、移動体、及び障害物判定方法
2020-05-14
Patent
Elektronische Ressource
Japanisch
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