Off-road dump truck and obstacle discrimination device

• US 10,663,575 B2
• Filed: 09/08/2016
• Issued: 05/26/2020
• Est. Priority Date: 12/25/2015
• Status: Active Grant

• Current Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Inventors: Watanabe, Atsushi, Naka, Takuya, Uotsu, Shinichi, Takeda, Koei
• Primary Examiner(s): Bythrow, Peter M
• Application Number:
  US15/774,345
• Publication Number:
  US 20190250263A1
• Time in Patent Office: 1,356 Days
• CPC Class Codes: B60P 1/04 with a tipping movement of load-transporting element dredgers or soil-shifting machines E02F3/00
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2552/35 Road bumpiness, e.g. potholes
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60Y 2200/25 Track vehicles
• CPC Class Codes: G01S 13/52 Discriminating between fixed and moving objects or between objects moving at different speeds
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/2927 : by deriving and controlling a threshold value
• CPC Class Codes: G01S 7/412 : based on a comparison between measured values and known or stored values
• CPC Class Codes: G01S 7/415 : Identification of targets based on measurements of movement associated with the target
• CPC Class Codes: G05D 1/0257 : using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

An off-road dump truck includes a vehicle body, a peripheral recognition device, and an obstacle discrimination device. The peripheral recognition device detects obstacle candidates in front of the vehicle body. The obstacle discrimination device classifies the obstacle candidates, which were detected by the peripheral recognition device, into obstacles and non-obstacles and outputs, as obstacles, the obstacle candidates classified as obstacles. The obstacle discrimination device includes a travel state determination section, a distance filter section, and a reflection intensity filter section. The travel state determination section determines whether each obstacle candidate is a moving object or a stationary object. The distance filter section compares a distance, where the stationary object was first detected, with a distance threshold. The reflection intensity filter section calculates statistical information based on reflection intensity information on the obstacle candidate, and based on a comparison result of the statistical information with a threshold, classifies the obstacle candidate.

Claims

1. An off-road dump truck comprising:

a peripheral recognition device configured to radiate an electromagnetic wave forward in a moving direction, to receive reflected waves from obstacle candidates, and to detect intensities of the reflected waves, distances from the off-road dump truck to the obstacle candidates and relative speeds of the obstacle candidates to the off-road dump truck,

a speed sensor configured to detect a travel speed of the off-road dump truck, and

an obstacle discrimination device configured to classify obstacles and non-obstacles in the obstacle candidates, and to output, as obstacles, the obstacle candidates classified as the obstacles,

wherein the obstacle discrimination device includes;

a travel state determination section that based on the relative speed of each obstacle candidate and the travel speed of the off-road dump truck, determines whether the obstacle candidate is a stationary object or a moving object, and, if the obstacle candidate has been determined as the moving object, outputs the obstacle candidate as an obstacle,

a distance filter section that, if the obstacle candidate has been determined as the stationary object, determines the obstacle candidate to be an object other than that which is to be outputted if a distance where the obstacle candidate was first detected is smaller than a distance threshold set to distinguish vehicles and non-vehicles, and

a reflection intensity filter section that, if the distance where the obstacle candidate determined as the stationary object was first detected is equal to or greater than the distance threshold, calculates statistical information based on reflection intensity information indicating the intensities of the reflected waves from the obstacle candidate, and determines the obstacle candidate to be an object other than that which is to be outputted if the statistical information based on the reflection intensity information is less than a reflection intensity threshold set to distinguish vehicles and non-vehicles but outputs the obstacle candidate as an obstacle if the reflection intensity information is equal to or greater than the reflection intensity threshold, and

the reflection intensity filter section outputs the obstacle candidate as an obstacle if cumulative statistical information calculated using reflection intensity information detected from the first detection of a reflected wave from the obstacle candidate until a present time is equal to or greater than a cumulative statistical information threshold and if moving statistical information calculated using reflection intensity information detected during a predetermined time period to a predetermined time point preceding the present time is equal to or greater than a moving statistical information threshold.

2. The off-road dump truck according to claim 1, wherein:

the reflection intensity threshold is a reflection intensity threshold set to separate reflection intensities from a vehicle and reflection intensities from a road surface.

3. The off-road dump truck according to claim 1, wherein:

if reflection intensity information of a reflected wave from a shoulder located distant from the off-road dump truck and reflection intensity information of a reflected wave from a road surface near the off-road dump truck are included in the reflection intensity information on the obstacle candidate, the predetermined time period is a time period sufficient to permit extraction of only the reflection intensity information of the reflected wave from the road surface near the off-road dump truck.

4. The off-road dump truck according to claim 1, wherein:

the reflection intensity filter section sets, for the cumulative statistical information, a first cumulative information threshold to discriminate vehicles and non-vehicles and a second cumulative information threshold smaller in value than the first cumulative information threshold, and outputs the obstacle candidate to be an obstacle if the cumulative statistical information based on the reflection intensity information on the obstacle candidate is equal to or greater than the first cumulative information threshold or if the moving statistical information is equal to or greater than the second cumulative information threshold but less than the first cumulative information threshold and is equal to or greater than a moving statistical information threshold set to discriminate vehicles and non-vehicles.

5. The off-road dump truck according to claim 1, wherein:

the statistical information based on the reflection intensity information is at least one of an average and a variance.

6. An obstacle discrimination device for use in a vehicle with a peripheral recognition device and a speed sensor mounted thereon, the peripheral recognition device being configured to radiate an electromagnetic wave forward in a moving direction, to receive reflected waves from obstacle candidates, and to detect intensities of the reflected waves, distances from the vehicle to the obstacle candidates and relative speeds of the obstacle candidates to the vehicle, and the speed sensor being configured to detect a travel speed of the vehicle, wherein the obstacle discrimination device includes:

a travel state determination section that based on the relative speed of each obstacle candidate and the travel speed of the vehicle, determines whether the obstacle candidate is a stationary object or a moving object, and, if the obstacle candidate has been determined as the moving object, outputs the obstacle candidate as an obstacle,

a distance filter section that, if the obstacle candidate has been determined as the stationary object, determines the obstacle candidate to be an object other than that which is to be outputted if a distance where the obstacle candidate was first detected is smaller than a distance threshold set to distinguish vehicles and non-vehicles, and

a reflection intensity filter section that, if the distance where the obstacle candidate was first detected is equal to or greater than the distance threshold, calculates statistical information based on reflection intensity information indicating the intensities of the reflected waves from the obstacle candidate, and determines the obstacle candidate to be an object other than that which is to be outputted if the statistical information based on the reflection intensity information is less than a reflection intensity threshold set to distinguish vehicles and non-vehicles but outputs the obstacle candidate as an obstacle if the reflection intensity information is equal to or greater than the reflection intensity threshold, and

the reflection intensity filter section outputs the obstacle candidate as an obstacle if cumulative statistical information calculated using reflection intensity information detected from the first detection of a reflected wave from the obstacle candidate until a present time is equal to or greater than a cumulative statistical information threshold and if moving statistical information calculated using reflection intensity information detected during a predetermined time period to a predetermined time point preceding the present time is equal to or greater than a moving statistical information threshold.