To provide a three-dimensional object detection apparatus 1 for a vehicle configured to detect a corner part 2e of a three-dimensional object 2.SOLUTION: In a three-dimensional object detection apparatus 1 for a vehicle, an electronic control apparatus 18 determines a path length La which is a length of a path on which a survey wave propagates from when the survey wave is transmitted from an ultrasonic sonar 10 to when a reflection wave is received in the ultrasonic sonar 11. The electronic control apparatus 18 determines a group of points, as an ellipse 20, where the path length La is equal to a value obtained by adding a distance from the ultrasonic sonar 10 to a distance from the ultrasonic sonar 11, while defining the positions of the ultrasonic sonars 10 and 11 as focal points 20a and 20b. The electronic control apparatus 18 determines a group of points, as an ellipse 21, where a path length Lb is equal to a value obtained by adding a distance from the ultrasonic sonar 10 to a distance from the ultrasonic sonar 12, while defining the positions of the ultrasonic sonars 10 and 12 as focal points 21a and 21b. The electronic control apparatus 18 detects an intersection of the ellipse 20 and the ellipse 21 as a corner part 2e.SELECTED DRAWING: Figure 4

    【課題】立体物2の角部2eを検知する車両用立体物検出装置1を提供する。【解決手段】車両用立体物検出装置1において、電子制御装置18は、超音波ソナー10から探査波が送信されてから超音波ソナー11で反射波が受信される迄の間において探査波が伝搬する経路の長さである経路長Laを求める。電子制御装置18は、超音波ソナー10、11のそれぞれ位置と焦点20a、20bとし、超音波ソナー10からの距離と超音波ソナー11からの距離とを加算した加算値が経路長Laと等しくなる点の集合体を楕円20として求める。電子制御装置18は、超音波ソナー10、12のそれぞれ位置と焦点21a、21bとし、超音波ソナー10からの距離と超音波ソナー12からの距離とを加算した加算値が経路長Lbと等しくなる点の集合体を楕円21として求める。電子制御装置18は、楕円20と楕円21とが交わる交点を角部2eとして検出する。【選択図】図4


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    Title :

    THREE-DIMENSIONAL OBJECT DETECTION APPARATUS


    Additional title:

    立体物検出装置


    Contributors:

    Publication date :

    2021-10-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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