Obstacle detection apparatus and method for detecting obstacle
First Claim
1. An obstacle detection apparatus comprising:
- a transmission and reception device located at a predetermined height on a movable object and directed toward an outside, the transmission and reception device includingi) a transmission unit configured to repeatedly transmit sensing waves at a predetermined interval andii) a reception unit configured to receive reflective waves of the sensing waves from a detected object in a detection area;
a peak value detecting unit configured to detect peak values of the reflective waves received by the reception unit and configured to store the detected peak values;
a difference arithmetic unit configured to calculate a difference in the peak values detected by the peak value detecting unit with movement of the movable object closer to the detected object; and
an object determination unit configured toi) determine a kind of the detected object to be a near-road-surface obstacle, which exists at a position close to a road surface, when the difference in the peak values calculated by the difference arithmetic unit is a negative value, andii) determine the kind of the detected object to be an other obstacle, which exists at a position higher than the position close to the road surface, when the difference in the peak values calculated by the difference arithmetic unit is a positive value.
1 Assignment
0 Petitions
Accused Products
Abstract
A transmission and reception device is located at a predetermined height on a movable object and directed toward an outside. The transmission and reception device includes a transmission unit for repeatedly transmitting sensing waves at a predetermined interval and a reception unit for receiving reflective waves of the sensing waves from a detected object. A peak value detecting unit detects peak values of the received reflective waves and stores the detected peak values. A difference arithmetic unit calculates a difference in the detected peak values with movement of the movable object closer to the detected object. An object determination unit determines the detected object to be a near-road-surface obstacle, which is close to a road surface, when the difference is a negative value. The object determination unit determines the detected object to be an other obstacle than the near-road-surface obstacle when the difference is a positive value.
21 Citations
13 Claims
-
1. An obstacle detection apparatus comprising:
-
a transmission and reception device located at a predetermined height on a movable object and directed toward an outside, the transmission and reception device including i) a transmission unit configured to repeatedly transmit sensing waves at a predetermined interval and ii) a reception unit configured to receive reflective waves of the sensing waves from a detected object in a detection area; a peak value detecting unit configured to detect peak values of the reflective waves received by the reception unit and configured to store the detected peak values; a difference arithmetic unit configured to calculate a difference in the peak values detected by the peak value detecting unit with movement of the movable object closer to the detected object; and an object determination unit configured to i) determine a kind of the detected object to be a near-road-surface obstacle, which exists at a position close to a road surface, when the difference in the peak values calculated by the difference arithmetic unit is a negative value, and ii) determine the kind of the detected object to be an other obstacle, which exists at a position higher than the position close to the road surface, when the difference in the peak values calculated by the difference arithmetic unit is a positive value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A method for detecting an obstacle, the method comprising:
-
repeatedly transmitting sensing waves at a predetermined interval from a predetermined height on a movable object toward an outside of the movable object; receiving reflective waves of the sensing waves at the predetermined height on the movable object from a detected object in a detection area; detecting peak values of the received reflective waves; storing the detected peak values; calculating a difference in the stored detected peak values with movement of the movable object closer to the detected object; determining a kind the detected object to be a near-road-surface obstacle, which exists at a position close to a road surface, when the calculated difference in the peak values is a negative value; and determining the kind of the detected object to be an other obstacle, which exists at a position higher than the position close to the road surface, when the calculated difference in the peak values is a positive value. - View Dependent Claims (13)
-
Specification