JPWO2023233515A5

JPWO2023233515A5 -

Info

Publication number: JPWO2023233515A5
Application number: JP2022576535A
Authority: JP
Filing date: 2022-05-31
Publication date: 2024-05-14
Anticipated expiration: 2042-05-31

Claims

an erroneous detection information collection unit which, when an image sensor mounted on a moving body detects a peripheral object that is an object existing around the moving body, determines whether or not the observation result of the image sensor is noisy by detecting whether or not there is a position and attitude of the moving body where the detected peripheral object disappears by changing the orientation of the moving body, and when the image sensor acquires a noise observation result that is an observation result containing noise, generates information indicating the time when the noise observation result was acquired and the position and attitude of the moving body at said time as erroneous detection information;
a route planning unit that determines whether or not there is a possibility that noise may be present in the observation results of the image sensor based on the erroneous detection information , and when it is determined that there is a possibility that noise may be present in the observation results of the image sensor, calculates, as the attitude of the moving body, an attitude that does not cause noise to be present in the observation results of the image sensor based on the erroneous detection information;
An object detection device comprising:

The object detection device of claim 1, wherein the erroneous detection information collection unit determines whether or not the observation results of the image sensor contain noise by comparing the observation results of the image sensor with the observation results of an image sensor mounted on another moving body coming from the opposite direction to the traveling direction of the moving body.

The object detection device according to claim 1 , wherein the route planning unit determines whether or not there is a possibility that the detected surrounding object is noise, based on the erroneous detection information.

The object detection device according to claim 1 , wherein the route planning unit generates information indicating that the image sensor will not be used when it is determined that the observation result of the image sensor is noisy.

3. The object detection device according to claim 1 or 2, wherein the route planning unit, when determining that there is a possibility of noise in the observation results of the image sensor, calculates the position of the moving body such that the orientation of the image sensor deviates from the incoming direction of the electromagnetic waves observed by the image sensor .

3. The object detection device according to claim 1, wherein the erroneous detection information is information generated based on information indicating a source of electromagnetic waves and information indicating structures around the moving object.

3. The object detection device according to claim 1 or 2, wherein the route planning unit determines whether or not there is a possibility that noise will be present in the observation results of the image sensor at a target point on the set movement route of the moving body, and if it determines that there is a possibility that noise will be present in the observation results of the image sensor at the target point, calculates an attitude of the moving body at the target point such that the orientation of the image sensor deviates from the incoming direction of the electromagnetic waves observed by the image sensor .

3. The object detection device according to claim 1 or 2, wherein the route planning unit determines whether or not there is a possibility that noise will be present in the observation results of the image sensor at a target point on the set movement route of the moving body, and if it determines that there is a possibility that noise will be present in the observation results of the image sensor at the target point, changes the movement route of the moving body to a movement route that does not pass through the target point.

when an image sensor mounted on a moving body detects a peripheral object that is an object present around the moving body, the computer determines whether or not the observation result of the image sensor is noisy by detecting whether there is a position and attitude of the moving body where the detected peripheral object will disappear by changing the orientation of the moving body, and when the image sensor obtains a noise observation result that is an observation result containing noise, the computer generates information indicating the time when the noise observation result was obtained and the position and attitude of the moving body at that time as false detection information,
The object detection method includes the computer determining whether or not there is a possibility that noise will be present in the observation results of the image sensor based on the false detection information , and if it determines that there is a possibility that noise will be present in the observation results of the image sensor, calculating an attitude of the moving body based on the false detection information such that noise will not be present in the observation results of the image sensor.

an erroneous detection information collection process for, when an image sensor mounted on a moving body detects a peripheral object that is an object existing around the moving body, determining whether or not the observation result of the image sensor is noisy by detecting whether or not there is a position and attitude of the moving body at which the detected peripheral object disappears by changing the orientation of the moving body, and, when the image sensor acquires a noise observation result that is an observation result that is noisy, generating information indicating the time when the noise observation result was acquired and the position and attitude of the moving body at that time as erroneous detection information;
a route planning process for determining whether or not there is a possibility that noise may be present in the observation results of the image sensor based on the erroneous detection information , and, when it is determined that there is a possibility that noise may be present in the observation results of the image sensor, calculating, as the attitude of the moving body, an attitude that will not cause noise to be present in the observation results of the image sensor based on the erroneous detection information ;
An object detection program that causes an object detection device, which is a computer, to execute the above.