An obstacle detection device (40) connected to a vehicle (C) is provided with: a peripheral region calculation unit (41) for calculating a peripheral region (D) in the turning direction of a towing vehicle (X) and a towed vehicle (Y); a passing region calculation unit (42) that calculates predicted passing regions (AB, A, B, A1B1, A2B2) when the towing vehicle (X) and the towed vehicle (Y) turn; a monitored region calculation unit (43) that calculates, as monitored regions (E, E1, E2), regions in which the peripheral region (D) overlaps the predicted regions (AB, A, B, A1B1, A2B2); and an obstacle detection unit (44) that outputs obstacle detection information indicating that an obstacle is likely to be entered by the turning of the towing vehicle (X) and the towed vehicle (Y) on the basis of the detection of the obstacle detected by the obstacle sensor (30) in the monitoring area (E, E1, E2).
一种连结车辆(C)的障碍物检测装置(40),具备:周边区域计算部(41),其计算牵引车(X)及被牵引车(Y)的转弯方向的周边区域(D);通过区域计算部(42),其计算牵引车(X)及被牵引车(Y)转弯时的通过预测区域(AB、A、B、A1B1、A2B2));监视区域计算部(43),其计算周边区域(D)与通过预测区域(AB、A、B、A1B1、A2B2)重叠的区域作为监视区域(E、E1、E2);以及障碍物检测部(44),其根据在监视区域(E、E1、E2)内检测到由障碍物传感器(30)检测到的障碍物的情况,输出表示有可能因牵引车(X)及被牵引车(Y)的转弯而被卷入的障碍物的障碍物检测信息。
Vehicle-connected obstacle detection device, vehicle-connected driving system, and vehicle-connected obstacle detection method
连结车辆的障碍物检测装置、连结车辆的驾驶系统以及连结车辆的障碍物检测方法
2024-05-31
Patent
Electronic Resource
Chinese
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