Moving obstacle deciding apparatus and method
First Claim
1. A moving obstacle deciding apparatus comprising:
- a search signal transmitting and receiving section for transmitting a search signal, and for receiving the search signal reflected from a search target as a detection signal;
a decision reference value calculating section for dividing a range of a transmission period of the search signal into a prescribed number of divisions, for calculating a decision reference value based on an integral value of the detection signal occurring in each of the divisions, and for dividing a detection area, which is a range of the search signal transmitted from the search signal transmitting and receiving section, into a plurality of divisional areas in accordance with distance from the search signal transmitting and receiving section or in accordance with time up to reception of the detection signal; and
a deciding section for making a decision as to whether the search target is a moving obstacle or not in accordance with a compared result of a difference value between the decision reference values obtained in time-series searches by the decision reference value calculating section with a prescribed threshold for each of the divisional areas,wherein the thresholds of the divisional areas are set in a manner as to become smaller as separated farther away from the search signal transmitting and receiving section.
1 Assignment
0 Petitions
Accused Products
Abstract
A moving obstacle deciding apparatus includes a search signal transmitting and receiving section 1 for transmitting a search signal, and for receiving the search signal reflected from a search target as a detection signal; a decision reference value calculating section 6 for calculating a decision reference value based on the detection signal received by the search signal transmitting and receiving section 1; and a moving obstacle deciding section 10 for making a decision as to whether the search target is a moving obstacle or not in accordance with a compared result of a difference value between decision reference values obtained by the decision reference value calculating section 6 in time-series searches with a prescribed threshold.
5 Citations
16 Claims
-
1. A moving obstacle deciding apparatus comprising:
-
a search signal transmitting and receiving section for transmitting a search signal, and for receiving the search signal reflected from a search target as a detection signal; a decision reference value calculating section for dividing a range of a transmission period of the search signal into a prescribed number of divisions, for calculating a decision reference value based on an integral value of the detection signal occurring in each of the divisions, and for dividing a detection area, which is a range of the search signal transmitted from the search signal transmitting and receiving section, into a plurality of divisional areas in accordance with distance from the search signal transmitting and receiving section or in accordance with time up to reception of the detection signal; and a deciding section for making a decision as to whether the search target is a moving obstacle or not in accordance with a compared result of a difference value between the decision reference values obtained in time-series searches by the decision reference value calculating section with a prescribed threshold for each of the divisional areas, wherein the thresholds of the divisional areas are set in a manner as to become smaller as separated farther away from the search signal transmitting and receiving section. - View Dependent Claims (2, 3, 4, 5)
-
-
6. A moving obstacle deciding apparatus comprising:
-
a search signal transmitting and receiving section for transmitting a search signal, and for receiving the search signal reflected from a search target as a detection signal; a decision reference value calculating section for dividing a range of a transmission period of the search signal into a prescribed number of divisions, and for calculating a decision reference value based on an integral value of the detection signal occurring in each of the divisions; a deciding section for making a decision as to whether the search target is a moving obstacle or not in accordance with a compared result of a difference value between the decision reference values obtained in time-series searches by the decision reference value calculating section with a prescribed threshold; and an averaging processing section for calculating an average value or moving average value of the integral values of the detection signals obtained in a prescribed number of time-series searches up to a previous search, wherein the decision reference value calculating section obtains a difference value between the average value or moving average value calculated by the averaging processing section and the integral value of the detection signal obtained by a current search, and makes a decision as to whether the search target is a moving obstacle in accordance with a compared result between the difference value and the prescribed threshold. - View Dependent Claims (7, 8)
-
-
9. A moving obstacle deciding method comprising:
-
transmitting, by utilizing a search signal transmitting and receiving section, a search signal, and receiving, by utilizing the search signal transmitting and receiving section, the search signal reflected from a search target as a detection signal; a decision reference value calculating step for dividing a range of a transmission period of the search signal into a prescribed number of divisions, for calculating a decision reference value based on an integral value of the detection signal occurring in each of the divisions, and for dividing a detection area, which is a range of the search signal transmitted from the search signal transmitting and receiving section, into a plurality of divisional areas in accordance with distance from the search signal transmitting and receiving section or in accordance with time up to reception of the detection signal; and making a decision as to whether the search target is a moving obstacle or not in accordance with a compared result of a difference value between the decision reference values obtained in time-series searches by the decision reference value calculating step with a prescribed threshold for each of the divisional areas, wherein the thresholds of the divisional areas are set in a manner as to become smaller as separated farther away from the search signal transmitting and receiving section. - View Dependent Claims (10, 11, 12, 13)
-
-
14. A moving obstacle deciding method comprising:
-
transmitting, by utilizing a search signal transmitting and receiving section, a search signal, and receiving, by utilizing the search signal transmitting and receiving section, the search signal reflected from a search target as a detection signal; a decision reference value calculating step for dividing a range of a transmission period of the search signal into a prescribed number of divisions, and for calculating a decision reference value based on an integral value of the detection signal occurring in each of the divisions; a deciding step for making a decision as to whether the search target is a moving obstacle or not in accordance with a compared result of a difference value between the decision reference values obtained in time-series searches by the decision reference value calculating step with a prescribed threshold; and calculating an average value or moving average value of the integral values of the detection signals obtained in a prescribed number of time-series searches up to a previous search, wherein the decision reference value calculating step obtains a difference value between the average value or the calculated moving average value and the integral value of the detection signal obtained by a current search, and makes a decision as to whether the search target is a moving obstacle in accordance with a compared result between the difference value and the prescribed threshold. - View Dependent Claims (15, 16)
-
Specification