Title:
OBSTACLE RECOGNITION APPARATUS FOR VEHICLE
Document Type and Number:
Japanese Patent JP3147541
Kind Code:
B2
Abstract:
PURPOSE: To reduce a frequency that an oversight and a mistake which are unavoidable due to the characteristic of an obstacle sensor itself are caused.
CONSTITUTION: An obstacle sensor 10 detects an obstacle around a vehicle, and a movement-amount output means 40 outputs the movement amount of the vehicle. A probability that the obstacle exists in many small regions which are in a fixed positional relationship with reference to the vehicle is stored in a storage means 210. A probability-value deduction means 202 outputs a probability value that the obstacle exists in every small region on the basis of the output of the obstacle sensor 10. A probability operation means 203 operates a new probability value on the basis of the probability value which is output from the probability-value deduction means 202 and on the basis of a probability value which is read out from the storage means with reference to the corresponding small regions, and it renews a memory. An affine transformation means 205 computes a transformation parameter on the basis of information on the displacement of the vehicle and on a change in an azimuth angle which are obtained from the output of the movement-amount output mess 40, it reads out a probability value from the storage means 210, and it writes a value obtained by an affine transformation according to the computed parameter into the storage means as a storage value.
Inventors:
Takeo Hongo
Yuzo Yamamoto
Koichi Tange
Yuzo Yamamoto
Koichi Tange
Application Number:
JP29741792A
Publication Date:
March 19, 2001
Filing Date:
November 06, 1992
Export Citation:
Assignee:
Toyota Central R & D Labs.
International Classes:
G01S13/93; B60W30/00; G01S15/93; G01S17/88; G01S17/93; G08G1/16; (IPC1-7): G01S17/93
Domestic Patent References:
| JP3164346A | ||||
| JP59109884A | ||||
| JP6279385A | ||||
| JP6150195A |
Attorney, Agent or Firm:
Atsushi Nakajima (1 person outside)