To calculate a speed of a measurement object using a sensing result of a time when the distance information may not be directly calculated and a sensing result of a time when the distance information may be directly calculated.SOLUTION: An arithmetic device is mounted on a moving object and includes: a crossing angle identification unit that identifies a crossing angle, which is an angle at which the traveling direction of the moving object and the traveling direction of a detected object intersect; a sensing information acquisition unit which acquires a sensing result which includes at least a captured image taken by a camera; a ranging unit which calculates a distance from the detected object at a first time on the basis of the sensing result; an angle of view identification unit which specifies an angle of view, which is an angle with respect to the traveling direction of the moving object at a second time on the basis of the captured image; and a speed calculation unit which calculates a speed of the detected object on the basis of the crossing angle, the distance from the moving object at the first time, the angle with the moving object at the second time, the time difference between the first and second times, and the speed of the moving object.SELECTED DRAWING: Figure 3
【課題】距離情報が直接算出できない時刻のセンシング結果と、距離情報が直接算出できる時刻のセンシング結果とを用いて測定対象の速度を算出できる。【解決手段】演算装置は、移動体に搭載され、移動体の進行方向と検知物体の進行方向とが交差する角度である交差角度を特定する交差角度特定部と、カメラが撮影して得られる撮影画像を少なくとも含むセンシング結果を取得するセンシング情報取得部と、センシング結果に基づき第1時刻における検知物体との距離を算出する測距部と、撮影画像に基づき第2時刻における移動体の進行方向に対する角度である画角を特定する画角特定部と、交差角度、第1時刻における移動体との距離、第2時刻における移動体との角度、第1時刻と第2時刻の時間差、および移動体の速度に基づき、検知物体の速度を算出する速度算出部と、を備える。【選択図】図3
ARITHMETIC DEVICE AND SPEED CALCULATION METHOD
演算装置、速度算出方法
2023-01-17
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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