Route determination device, route determination method, and recording medium recording program
First Claim
Patent Images
1. A determination device, comprising:
- an input terminal which receives first direction distance information representing directions and distances to objects existing in a first range, from a first sensor mounted on a moving body;
route detection circuitry which detects, from the first direction distance information,a first continuous body with respect to a first object among the objects, and a second continuous body with respect to a second object among the objects, the second object being located farther from the moving body than the first object in a first direction along a first route on which the moving body moves, a break zone being between the first continuous body and the second continuous body in the first direction, anda third continuous body in a second direction different from the first direction;
route determination circuitry which determines presence of a second route along the third continuous body when a length of the third continuous body is at least equal to a first value; and
an output terminal which outputs a determination result of the route determination circuitry to a moving body control device, the determination result causing the moving body control device to control movement of the moving body,wherein the route detection circuitry calculates a first likelihood for the first range, the first likelihood representing whether or not the first route connects with the second route, based on the determination result of the route determination circuitry, andthe route determination circuitrydetermines intersections of routes, T-junctions, or L-junctions of routes including the first route and the second route, by using the first likelihood of the first range,obtains a first position which is an intersection point between the second continuous body and the third continuous body for each frame cycle,determines whether or not the first position which is obtained for each frame cycle exists on an identical position,obtains a second position which is an end point of the first continuous body for each frame cycle, anddetermines whether or not the second position which is obtained for each frame cycle changes in the second direction.
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Abstract
A determination device includes: route detection circuitry which detects, a first continuous body as a first part of a one or more first direction distance information with respect to a first object, and a second continuous body as a second part of the one or more first direction distance information with respect to a second object, in a first direction along a first route on which the moving body moves, and a third continuous body as the second part, in a second direction; route determination circuitry which determines presence or absence of a second route along the third continuous body.
43 Citations
10 Claims
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1. A determination device, comprising:
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an input terminal which receives first direction distance information representing directions and distances to objects existing in a first range, from a first sensor mounted on a moving body; route detection circuitry which detects, from the first direction distance information, a first continuous body with respect to a first object among the objects, and a second continuous body with respect to a second object among the objects, the second object being located farther from the moving body than the first object in a first direction along a first route on which the moving body moves, a break zone being between the first continuous body and the second continuous body in the first direction, and a third continuous body in a second direction different from the first direction; route determination circuitry which determines presence of a second route along the third continuous body when a length of the third continuous body is at least equal to a first value; and an output terminal which outputs a determination result of the route determination circuitry to a moving body control device, the determination result causing the moving body control device to control movement of the moving body, wherein the route detection circuitry calculates a first likelihood for the first range, the first likelihood representing whether or not the first route connects with the second route, based on the determination result of the route determination circuitry, and the route determination circuitry determines intersections of routes, T-junctions, or L-junctions of routes including the first route and the second route, by using the first likelihood of the first range, obtains a first position which is an intersection point between the second continuous body and the third continuous body for each frame cycle, determines whether or not the first position which is obtained for each frame cycle exists on an identical position, obtains a second position which is an end point of the first continuous body for each frame cycle, and determines whether or not the second position which is obtained for each frame cycle changes in the second direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A determination method, comprising:
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receiving first direction distance information representing directions and distances to objects existing in a first range, from a first sensor mounted on a moving body; detecting, from the first direction distance information, a first continuous body with respect to a first object among the objects, and a second continuous body with respect to a second object among the objects, the second object being located farther from the moving body than the first object in a first direction along a first route on which the moving body moves, a break zone being between the first continuous body and the second continuous body in the first direction, and a third continuous body in a second direction different from the first direction; determining presence of a second route along the third continuous body when a length of the third continuous body is at least equal to a first value; calculating a first likelihood for the first range, the first likelihood representing whether or not the first route connects with the second route, based on a first determination result of the determining the presence of the second route; obtaining a first position which is an intersection point between the second continuous body and the third continuous body for each frame cycle; determining whether or not the first position which is obtained for each frame cycle exists on an identical position; obtaining a second position which is an end point of the first continuous body for each frame cycle; determining whether or not the second position which is obtained for each frame cycle changes in the second direction; determining intersections of routes, T-junctions, or L-junctions of routes including the first route and the second route, by using the first likelihood of the first range; and outputting a second determination result of the determining of the intersections to a moving body control device, the second determination result causing the moving body control device to control movement of the moving body.
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10. A non-transitory recording medium recording a program which makes a computer execute processing comprising:
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receiving first direction distance information representing directions and distances to objects existing in a first range, from a first sensor mounted on a moving body; recognizing, from the first direction distance information, a first continuous body with respect to a first object among the objects, and a second continuous body with respect to a second object among the objects, the second object being located farther from the moving body than the first object in a first direction along a first route on which the moving body moves, a break zone being between the first continuous body and the second continuous body in the first direction, and a third continuous body in a second direction different from the first direction; determining presence of a second route along the third continuous body when a length of the third continuous body is at least equal to a first value; calculating a first likelihood for the first range, the first likelihood representing whether or not the first route connects with the second route, based on a first determination result of the determining the presence of the second route; obtaining a first position which is an intersection point between the second continuous body and the third continuous body for each frame cycle; determining whether or not the first position which is obtained for each frame cycle exists on an identical position; obtaining a second position which is an end point of the first continuous body for each frame cycle; determining whether or not the second position which is obtained for each frame cycle changes in the second direction; determining intersections of routes, T-junctions, or L-junctions of routes including the first route and the second route, by using the first likelihood of the first range; and outputting a second determination result of the determining of the intersections to a moving body control device, the second determination result causing the moving body control device to control movement of the moving body.
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Specification