PROBLEM TO BE SOLVED: To provide a device that can restrain misrecognition of non-vehicles as vehicles.SOLUTION: An off-road dump truck is equipped with a vehicle body running on tyres, an external environment recognizing device 2 that detects obstacles ahead of the vehicle body and an obstacle discriminating device 5 that classifies obstacle candidates detected by the external environment recognizing device 2 into obstacles and non-obstacles and outputs obstacle candidates classified as obstacles. The obstacle discriminating device 5 comprises a running state determining unit 51 that determines whether each obstacle candidate is a moving object or a still object, a distance filter unit 52 that compares the distance of a still object at the time of its first detection with a distance threshold, and a reflection intensity filtering unit 53 that calculates statistical information based on reflection intensity information on obstacles to classify the obstacle candidates on the basis of the result of comparison with the threshold.SELECTED DRAWING: Figure 4
【課題】非車両を車両として誤認識することを抑制する装置を提供する。【解決手段】タイヤで走行する車両本体と、車両本体の前方の障害物を検出する外界認識装置2と、外界認識装置2で検出した障害物候補を障害物と非障害物に分類し、障害物と分類された障害物候補を障害物として出力する障害物判別装置5を備え、障害物判別装置5は、障害物候補が移動物か静止物かを判定する走行状態判定部51と、静止物のうち最初に検出された距離を距離閾値を比較する距離フィルタ部52と、障害物の反射強度情報に基づく統計情報を算出して閾値の比較結果に基づき障害物候補を分類する反射強度フィルタ部53とを含む。【選択図】図4
OFF-ROAD DUMP TRUCK, AND OBSTACLE DISCRIMINATING DEVICE
オフロードダンプトラック及び障害物判別装置
2017-06-29
Patent
Electronic Resource
Japanese
IPC: | B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |