Obstacle determination device
AssigneeToyota Jidosha Kabushiki Kaisha
InventorTomonori Akiyama
Life of this patent
Estimating the term…
Abstract
An obstacle determination device that determines whether a solid object present in a travelling direction of a subject vehicle is an obstacle that the vehicle should avoid, and determines the solid object is an obstacle by comparing the height of the solid object to a reference height. The reference height is set based on a relative positional relation between a separation line detected by a separation line detection unit and the solid object. And, when the separation line is present between the solid object and the subject vehicle, the reference height is set such that the solid object is more likely to be determined as an obstacle, as compared to when the separation line is not present between the solid object and the subject vehicle.
Claims6
An obstacle determination device that determines whether a solid object present in a travelling direction of a subject vehicle is an obstacle that the vehicle should avoid,
- the obstacle determination device comprising:
- a recognition unit that recognizes a solid object present in the travelling direction of the subject vehicle;
- a separation line detection unit that detects a separation line on a road indicating a boundary of a traveling lane of the subject vehicle;
- and
- an obstacle determination unit that determines whether the solid object is an obstacle by comparing a height of the solid object recognized by the recognition unit to a reference height, wherein
- the reference height is set, based on a relative positional relation between the separation line detected by the separation line detection unit and the solid object recognized by the recognition unit, such that the reference height is lower when the separation line is present between the solid object and the subject vehicle, as compared to when the separation line is not present between the solid object and the subject vehicle.
Dependencies are inferred from the claim text.