To calculate a three-dimensional position of an obstacle existing around a vehicle, with high accuracy.SOLUTION: An obstacle detection device comprises: an operation control part that controls operation of a movable part in a door of a vehicle; a first obtaining part that obtains, as data on a photographed image in the vicinity of an outside door of the vehicle, at least first photographed image data at the time when the movable part is in a first state and second photographed image data at the time when the movable part moves from the first state into a second state from a photographing part installed at the movable part; a second obtaining part that obtains information about movement amounts from the first state to the second state of the movable part; a photographing part position calculating part that calculates information about photographing part positions including a position of the photographing part at the time when the movable part is in the first state and a position of the photographing part at the time when the movable part is in the second state on the basis of the information about movement amounts; and an obstacle position calculating part that calculates three-dimensional positions of obstacles copied in the first photographed image data and in the second photographed image data, on the basis of the first photographed image data, the second photographed image data and the photographing part position information.SELECTED DRAWING: Figure 3

    【課題】車両の周囲に存在する障害物の三次元位置を高精度に算出する。【解決手段】障害物検知装置は、車両のドアにおける可動部の動作を制御する動作制御部と、可動部に設置された撮影部から、車両の外側のドアの付近の撮影画像データとして、少なくとも、可動部が第1の状態のときの第1の撮影画像データと、可動部が第1の状態から動いて第2の状態となっているときの第2の撮影画像データと、を取得する第1の取得部と、可動部の第1の状態から第2の状態までの移動量情報を取得する第2の取得部と、移動量情報に基づいて、可動部が第1の状態のときの撮影部の位置と可動部が第2の状態のときの撮影部の位置を含む撮影部位置情報を算出する撮影部位置算出部と、第1の撮影画像データと第2の撮影画像データと撮影部位置情報とに基づいて、第1の撮影画像データと第2の撮影画像データに写っている障害物の三次元位置を算出する障害物位置算出部とを備える。【選択図】図3


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    Titel :

    OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD AND PROGRAM


    Weitere Titelangaben:

    障害物検知装置、障害物検知方法、および、プログラム


    Beteiligte:
    HORI ATSUSHI (Autor:in)

    Erscheinungsdatum :

    2021-10-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60J WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES , Fenster, Windschutzscheiben und bewegbare Dächer, Türen oder Ähnliches für Fahrzeuge



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