The present invention is provided with: a first detection unit that detects an object by transmitting ultrasonic waves in the direction of movement of a moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body from a position different from the first detection unit and receiving reflected waves of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in the moving direction of the moving body on the basis of the detection results of the object by the first detection unit and the detection results of the object by the second detection unit; and a lateral passage determination unit that determines that lateral passage of the obstacle has occurred when the obstacle determination unit determines that the obstacle is present and the state of the object detected by the first detection unit and the second detection unit is changed from the state of the object detected by the first detection unit to the state of the object not detected by the first detection unit. And a control unit that, when the lateral passage determination unit determines that the lateral passage has occurred, releases the travel restriction control for restricting the movement of the moving body, and when a release determination unit that prohibits the release of the travel restriction control for the moving body determines that the release is prohibited, causes the travel control unit to prohibit the release of the travel restriction control.
具备:第一探测部,其通过向移动体的移动方向发送超声波并接收超声波的反射波,来探测物体;第二探测部,其通过从与第一探测部不同的位置向移动体的移动方向发送超声波并接收超声波的反射波,来探测物体;障碍物判定部,其基于第一探测部对物体的探测结果和第二探测部对物体的探测结果,来对在移动体的移动方向上存在障碍物这一情况进行判定;以及横向穿行判定部,其在障碍物判定部判定为存在障碍物的状态下,在从由第一探测部和第二探测部探测到物体的状态变为第一探测部未探测到物体的情况下,判定为发生了障碍物的横向穿行,其中,在由横向穿行判定部判定为发生了横向穿行的情况下,将用于限制移动体的移动的行驶限制控制解除,在禁止将对移动体的行驶限制控制解除的解除判定部判定为禁止解除的情况下,使行驶控制部禁止将行驶限制控制解除。
Object detection device and driving assistance system
物体探测装置和驾驶辅助系统
2022-12-09
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
European Patent Office | 2019
|European Patent Office | 2015
|European Patent Office | 2015
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