Information processor and movable body apparatus

• US 10,131,348 B2
• Filed: 02/28/2017
• Issued: 11/20/2018
• Est. Priority Date: 05/27/2016
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Sugita, Kaoru, Sekine, Masahiro, Watanabe, Tomoki
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US15/444,866
• Publication Number:
  US 20170341645A1
• Time in Patent Office: 630 Days
• Field of Search: 701 93, 701301, 700245-246, 700255, 700250
• CPC Class Codes: B60R 2021/0027 Post collision measures, e.g. notifying emergency services
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: G05D 1/0055 with safety arrangements
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

According to one embodiment, an information processor includes a memory and processing circuitry. The circuitry receives area information indicating a second area in a first area around a movable body apparatus and third areas in the first area, wherein the movable body apparatus is movable in the second area and an object is present in each of the third areas. The circuitry receives movement information including at least one of a velocity, a movement direction or an acceleration of the apparatus. The circuitry acquires evaluation values each indicative of a damage to be caused when the apparatus collides with each object in the third areas, and determines, based on the evaluation values, a position corresponding to a first object which causes a least damage.

Claims

1. An information processor comprising:

a memory; and

processing circuitry configured to;

receive an image and distance data from a movable body apparatus, the image including a part of a vicinity of the movable body apparatus, and the distance data being generated by distance sensors for measuring a distance to each of objects present around the movable body apparatus;

generate area information by using the image and the distance data, the area information indicating a second area and third areas in a first area around the movable body apparatus, wherein the movable body apparatus is movable in the second area and objects are present in the third areas, respectively;

receive movement information from the movable body apparatus, the movement information including a velocity, a movement direction and/or an acceleration of the movable body apparatus;

acquire, when a movement state of the movable body apparatus is abnormal, evaluation values by using the area information and the movement information, the evaluation values being calculated based on damages to be caused when the movable body apparatus collides with the objects in the third areas, respectively;

determine, based on the evaluation values, a first position corresponding to a first object of the objects which causes a least damage; and

provide first position-related information about the determined first position for use in controlling the movable body apparatus to move to the determined first position.

2. The information processor of claim 1, wherein the processing circuitry is further configured to:

determine whether the movement state of the movable body apparatus is abnormal by using the movement information.

3. The information processor of claim 2, wherein the processing circuitry is further configured to:

determine whether there is a possibility that the movable body apparatus collides with any one of the objects in the third areas by using the movement information and the area information; and

determine that the movement state of the movable body apparatus is abnormal when there is a possibility that the movable body apparatus collides with any one of the objects.

4. The information processor of claim 2, wherein the processing circuitry is further configured to:

determine whether there is a possibility that a moving second object of the objects in the third areas collides with the movable body apparatus by using the area information; and

determine that the movement state of the movable body apparatus is abnormal when there is a possibility that the second object collides with the movable body apparatus.

5. The information processor of claim 1, wherein the area information is generated by using the image obtained by capturing the first area.

6. The information processor of claim 1, wherein the area information comprises information indicative of a distance from the movable body apparatus to each of the second area and the third areas.

7. The information processor of claim 1, wherein the processing circuitry is further configured to:

predict, when the movement state of the movable body apparatus is abnormal, second area information by using the movement information and the area information, the second area information indicating, a first time after a current time, a fourth area in the first area and fifth areas in the first area, wherein the movable body apparatus is movable in the fourth area and an object is present in each of the fifth areas, respectively;

acquire second evaluation values by using the second area information and the movement information, the second evaluation values being calculated based on damages to be caused when the movable body apparatus collides with the objects in the fifth areas, respectively;

determine, based on the evaluation values, a second position corresponding to a second object of the objects which causes a least damage; and

provide second position-related information about the determined second position for use in controlling the movable body apparatus to move to the determined second position.

8. The information processor of claim 1, wherein the memory is configured to store, when the movable body apparatus collides with the first object, information indicative of the first object and a damage caused by the collision.

9. The information processor of claim 1, wherein the movable body apparatus is a vehicle for transporting a human, and comprises a safety device for protecting the human, and the information processor further comprises a controller configured to control the safety device when the position is determined.

10. A movable body apparatus comprising:

a power module for moving the movable body apparatus;

processing circuitry configured to;

receive an image and distance data, the image including a part of a vicinity of the movable body apparatus, and the distance data being generated by distance sensors for measuring a distance to each of objects present around the movable body apparatus,

generate area information by using the image and the distance data, the area information indicating a second area and third areas in a first area around the movable body apparatus, wherein the movable body apparatus is movable in the second area and objects are present in the third areas, respectively;

receive movement information including a velocity, a direction and/or an acceleration of the movable body apparatus;

acquire evaluation values by using the area information and the movement information, the evaluation values being calculated based on damages to be caused when the movable body apparatus collides with the objects in the third areas, respectively; and

determine, based on the evaluation values, a first position corresponding to a first object of the objects which causes a least damage; and

a first controller configured to control the power module such that the movable body apparatus moves to the determined first position.

11. The movable body apparatus of claim 10, wherein the processing circuitry is further configured to:

determine whether the movement state of the movable body apparatus is abnormal by using the movement information.

12. The movable body apparatus of claim 11, wherein the processing circuitry is further configured to:

determine whether there is a possibility that the movable body apparatus collides with any one of the objects in the third areas by using the movement information and the area information; and

determine that the movement state of the movable body apparatus is abnormal when there is a possibility that the movable body apparatus collides with any one of the objects.

13. The movable body apparatus of claim 11, wherein the processing circuitry is further configured to:

determine whether there is a possibility that a moving second object of the objects in the third areas collides with the movable body apparatus by using the area information; and

determine that the movement state of the movable body apparatus is abnormal when there is a possibility that the second object collides with the movable body apparatus.

14. The movable body apparatus of claim 10, wherein the area information is generated by using the image obtained by capturing the first area.

15. The movable body apparatus of claim 10, wherein the area information comprises information indicative of a distance from the movable body apparatus to each of the second area and the third areas.

16. The movable body apparatus of claim 10, wherein the processing circuitry is further configured to:

predict, when the movement state of the movable body apparatus is abnormal, second area information by using the movement information and the area information, the second area information indicating, a first time after a current time, a fourth area in the first area and fifth areas in the first area, wherein the movable body apparatus is movable in the fourth area and an object is present in each of the fifth areas, respectively;

acquire second evaluation values by using the second area information and the movement information, the second evaluation values being calculated based on damages to be caused when the movable body apparatus collides with the objects in the fifth areas, respectively; and

determine, based on the evaluation values, a second position corresponding to a second object of the objects which causes a least damage, wherein

the controller is configured to control the power module such that the movable body apparatus moves to the determined second position.

17. The movable body apparatus of claim 10, wherein the memory is configured to store, when the movable body apparatus collides with the first object, information indicative of the first object and a damage caused by the collision.

18. The movable body apparatus of claim 10, wherein the movable body apparatus is a vehicle for transporting a human, and further comprises a safety device for protecting the human and a second controller configured to control the safety device when the position is determined.

19. A method comprising:

receiving an image and distance data from a movable body apparatus, the image including a part of a vicinity of the movable body apparatus, and the distance data being generated by distance sensors for measuring a distance to each of objects present around the movable body apparatus;

generating area information by using the image and the distance data, the area information indicating a second area and third areas in a first area around a movable body apparatus, wherein the movable body apparatus is movable in the second area and objects are present in the third areas, respectively;

receiving movement information from the movable body apparatus, the movement information including a velocity, a movement direction and/or an acceleration of the movable body apparatus;

acquiring, when a movement state of the movable body apparatus is abnormal, evaluation values by using the area information and the movement information, the evaluation values being calculated based on damages to be caused when the movable body apparatus collides with the objects in the third areas, respectively;

determining, based on the evaluation values, a position corresponding to a first object of the objects which causes a least damage; and

providing position-related information for use in controlling the movable body apparatus to move to the determined position.