Mobile body spatial information calculation apparatus and collision avoidance system

• US 10,559,206 B2
• Filed: 08/25/2017
• Issued: 02/11/2020
• Est. Priority Date: 03/15/2017
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Ohsawa, Hiroyuki, Imamura, Akihiro, Ohwaki, Kazuyasu, Oki, Yutaka
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/686,193
• Publication Number:
  US 20180268699A1
• Time in Patent Office: 900 Days
• Field of Search: 701301
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0141 for traffic information dissemination
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A mobile body spatial information calculation apparatus according to an embodiment includes an input section configured to receive sensor information including information on one or more target objects based on a position of an own mobile body from a sensor apparatus, an object recognition section configured to recognize the target object based on the sensor information, a calculation section configured to calculate a collision prediction time and a target portion angle based on the sensor information on the target object recognized by the object recognition section, and a spatial information generation section configured to generate spatial information according to the collision prediction time and the target portion angle using the collision prediction time and the target portion angle calculated by the calculation section and store the generated spatial information.

Claims

1. A mobile body spatial information calculation apparatus comprising:

an input section configured to receive sensor information including information on one or more target objects based on a position of an own mobile body from a sensor apparatus;

an object recognition section configured to recognize the target object based on the sensor information;

a calculation section configured to calculate a collision prediction time and a target portion angle, the target portion angle being information on a direction in which the target object is located based on the own mobile body, based on the sensor information on the target object recognized by the object recognition section; and

a spatial information generation section configured to generate spatial information according to the collision prediction time and the target portion angle using the collision prediction time and the target portion angle calculated by the calculation section and store the generated spatial information.

2. The mobile body spatial information calculation apparatus according to claim 1, wherein the target portion angle is expressed by an angle using a traveling direction of the own mobile body as a reference.

3. The mobile body spatial information calculation apparatus according to claim 1, wherein the spatial information generation section generates the spatial information including information on a range within which the own mobile body moves after a predetermined time elapses.

4. The mobile body spatial information calculation apparatus according to claim 1, wherein the sensor apparatus comprises at least one of an image sensor, a radar apparatus and a lidar apparatus.

5. The mobile body spatial information calculation apparatus according to claim 1, wherein the sensor information comprises image information, and

the calculation section calculates the collision prediction time and the target portion angle based on a position on an image corresponding to the target object.

6. The mobile body spatial information calculation apparatus according to claim 1, wherein the sensor information comprises distance information from the own mobile body to the target object and information on an angle of the target object with respect to a traveling direction of the own mobile body, and

the calculation section calculates the collision prediction time based on the distance information and calculates the target portion angle based on the angle information.

7. The mobile body spatial information calculation apparatus according to claim 6, wherein the sensor information further comprises image information, and

the calculation section corrects the collision prediction time and the target portion angle based on the image information.

8. A collision avoidance system comprising:

the mobile body spatial information calculation apparatus according to claim 1; and

a control section configured to generate information for avoiding a collision with each one of the target objects based on the spatial information for each one of the target objects.

9. The collision avoidance system according to claim 8, further comprising a recognized object management section configured to manage the spatial information for each one of the target objects.

10. The collision avoidance system according to claim 9, wherein the control section generates information for generating a warning indicating that there is a possibility of collision as the information for avoiding the collision with each one of the target objects.

11. The collision avoidance system according to claim 10, further comprising a display section configured to perform a display based on the information for generating the warning.

12. The collision avoidance system according to claim 11, wherein the display section displays the target object in association with the collision prediction time.

13. The collision avoidance system according to claim 9, wherein the control section generates information for controlling at least one of a speed and a traveling direction to avoid a collision as the information for avoiding the collision with each one of the target objects.

14. The collision avoidance system according to claim 13, wherein the control section sets an arrival target position between the respective target objects and calculates an arrival target setting yaw angle of the own mobile body necessary to reach the arrival target position.

15. The collision avoidance system according to claim 14, wherein the control section calculates the arrival target setting yaw angle in a predetermined time unit.

16. The collision avoidance system according to claim 14, wherein the control section estimates each one of the target objects which is not acquired from the sensor information and sets the arrival target position.

17. The collision avoidance system according to claim 14, wherein the control section calculates sizes of the target object in the space at different time points by affine transformation corresponding to the target object and sets the arrival target setting yaw angle for avoiding a collision with the target object.

18. The collision avoidance system according to claim 8, comprising a movement estimation section configured to estimate a movement of the target object based on spatial information managed by the recognized object management section,

wherein the control section generates the information for avoiding the collision with each one of the target objects based on an output of the recognized object management section and an estimation result of the movement estimation section.

19. The collision avoidance system according to claim 18, wherein the movement estimation section calculates collision prediction times and target portion angles at different time points based on the spatial information managed by the recognized object management section, and estimates the movement of each one of the target objects.