Title:
OBSTACLE DETECTION DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/024433
Kind Code:
A1
Abstract:
An inclined obstacle detection unit (12) detects the presence of an inclined obstacle on the basis of the indirect wave reception states of a plurality of distance measurement sensors (1-4) installed on a rear surface (51) of a vehicle (50). If the presence of an inclined obstacle has been detected, an intersection point processing unit (13) calculates the positions of an intersection point group from direct wave transmission and reception results from distance measurement sensors (1-4) by carrying out two-circle-intersection-point processing using the results of the transmission and reception of direct waves twice by a single distance measurement sensor at different points in time during vehicle (50) travel. A shape estimation unit (14) estimates the shape of the inclined obstacle on the basis of the positions of the intersection point group. A contact position estimation unit (15) estimates the position of the portion of the inclined obstacle closest to the vehicle (50) on the basis of the shape of the inclined obstacle.
Inventors:
URAKAWA YUKI (JP)
INOUE SATORU (JP)
INOUE SATORU (JP)
Application Number:
PCT/JP2019/031222
Publication Date:
February 11, 2021
Filing Date:
August 07, 2019
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G01S15/87; G01S15/93
Domestic Patent References:
| WO2013024509A1 | 2013-02-21 |
Foreign References:
| JP2018189422A | 2018-11-29 | |||
| JP2003194938A | 2003-07-09 | |||
| JP2004354326A | 2004-12-16 | |||
| US20180251092A1 | 2018-09-06 |
Attorney, Agent or Firm:
TAZAWA, Hideaki et al. (JP)
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