PROBLEM TO BE SOLVED: To provide a technique for suppressing such a situation in which, an object which is not a vehicle is recognized as a vehicle by an error.SOLUTION: The invention is configured so that: based on a determination result of an own vehicle state determination part 50 for determining whether a state of the own vehicle is an immediately after start state containing a stop state and a state in which the own vehicle travels at speed less than predetermined speed threshold immediately after start, or a normal travel state in which the own vehicle travels at speed equal to or more than the speed threshold, a processing operation of a distance filter part 52 for determining whether or not an obstacle candidate is out of an output object, based on a comparison result of a distance at which the obstacle candidate is detected first, and a distance threshold which is provided for distinguishing the vehicle and an object which is not a vehicle, and a reflection intensity filter part 53 for determining whether or not an obstacle candidate is out of the output object, based on a comparison result of a statistic value based on reflection intensity information indicating intensity of reflection wave of the obstacle candidate, and reflection intensity threshold provided for distinguishing the vehicle and an object which is not a vehicle, is switched.SELECTED DRAWING: Figure 2
【課題】非車両を車両として誤認識することを抑制する技術を提供する。【解決手段】自車の走行速度に基づいて、自車が停車状態及び発車直後の予め定められた速度閾値未満で走行した状態を含む発進直後状態であるか又は速度閾値以上で走行する通常走行状態であるかを判定する自車状態判定部50の判定結果に基づいて、障害物候補が最初に検出された距離、及び車両と非車両とを区別するために設けられた距離閾値との比較結果に基づいて障害物候補が出力対象外であるか否かを判定する距離フィルタ部52、及び障害物候補の反射波の強度を示す反射強度情報に基づく統計値、及び車両と非車両とを区別するために設けられた反射強度閾値との比較結果に基づいて障害物候補が出力対象外であるかを判定する反射強度フィルタ部53の処理動作を切替える。【選択図】図2
WORK MACHINE FOR MINE, OBSTACLE DETERMINATION DEVICE AND OBSTACLE DETERMINATION METHOD
鉱山用作業機械、障害物判別装置、及び障害物判別方法
2018-03-29
Patent
Electronic Resource
Japanese
European Patent Office | 2018
|OBSTACLE DETERMINATION DEVICE AND OBSTACLE DETERMINATION METHOD
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