Measurement device, measurement method, and non-transitory storage medium

Patent metadata

Field	Value
Publication number	US-11487002-B2
Application number	US-201716327799-A
Country	US
Kind code	B2
Filing date	Aug 25, 2017
Priority date	Aug 26, 2016
Publication date	Nov 1, 2022
Grant date	Nov 1, 2022

Abstract

A measurement device ( 200 ) includes a measurement unit ( 202 ) which performs measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves, and a control unit ( 204 ) which controls the measurement unit ( 202 ). The measurement unit ( 202 ) is operable in a first scan mode in which the object is scanned in a first direction, or a second scan mode in which the object is scanned in a second direction different from the first direction. The control unit ( 204 ) determines a scan mode to be executed by the measurement unit ( 202 ).

First claim

The invention claimed is:

1. A measurement device mounted to a moving body, the measuring device comprising:
an irradiator and a receiver which perform measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves;
a memory configured to store instructions; and
a processor configured to execute the instructions to control the irradiator and the receiver,
wherein the irradiator and the receiver are operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and
wherein the processor determines a scan mode to be executed by the irradiator and the receiver based on a moving state of the moving body, and
wherein the processor:
acquires information on a current position of the moving body;
acquires information on a traveling direction of the moving body;
acquires map information; and
determines the scan mode, based on the information on the current position, the information on the traveling direction, and the map information.

2. The measurement device according to claim 1 , wherein the first direction is a direction from left to right with respect to the traveling direction of the moving body,
wherein the second direction is a direction from right to left with respect to the traveling direction of the moving body, and
wherein the irradiator and the receiver perform vertical scanning in a height direction of the moving body.

3. The measurement device according to claim 1 , wherein the processor determines the scan mode, based on a steering signal of a steering wheel of the moving body.

4. The measurement device according to claim 3 , wherein the processor determines the scan mode as the first scan mode, in a case where the steering wheel is turned to left by a predetermined angle or more, and determines the scan mode as the second scan mode, in a case where the steering wheel is turned to right by a predetermined angle or more.

5. The measurement device according to claim 4 , wherein the irradiator and the receiver are also operable in a third mode in which the object is scanned by performing a reciprocating operation in the first direction and the second direction, and
wherein the processor determines the scan mode as the third scan mode, in a case where the steering wheel is not turned to the left by a predetermined angle or more, and is not turned to the right by a predetermined angle or more.

6. The measurement device according to claim 1 , wherein the processor determines the scan mode, based on a planned travel route of the moving body.

7. The measurement device according to claim 6 , wherein the processor determines the scan mode as the first scan mode in a case where it is predicted that a steering wheel of the moving body is turned to left by a predetermined angle or more within a predetermined traveling distance, based on the planned travel route, and determines the scan mode as the second scan mode in a case where it is predicted that the steering wheel of the moving body is turned to right by a predetermined angle or more within a predetermined traveling distance, based on the planned travel route.

8. The measurement device according to claim 7 , wherein the irradiator and the receiver are also operable in a third mode in which the object is scanned by performing a reciprocating operation in the first direction and the second direction, and
wherein the processor determines the scan mode as the third scan mode in a case where it is not predicted that the steering wheel of the moving body is turned to the left and the right by a predetermined angle or more within the predetermined traveling distance, based on the planned travel route.

9. The measurement device according to claim 1 , wherein the processor is operable in a first determination mode in which the scan mode is determined based on a steering signal of a steering wheel of the moving body and in a second determination mode in which the scan mode is determined based on a planned travel route of the moving body, and switches the determination mode in accordance with a traveling speed of the moving body.

10. The measurement device according to claim 1 , wherein the processor fixes the scan mode to any one of the scan modes, in a case where a traveling speed of the moving body is less than a predetermined value, and determines one of a plurality of the scan modes, based on a steering signal of a steering wheel of the moving body or a planned travel route of the moving body, in a case where the traveling speed of the moving body is a predetermined value or more.

11. A measurement method executed by a computer mounted to a moving body, the measurement method comprising:
performing measurement by emitting electromagnetic waves and scanning object with the electromagnetic waves; and
controlling the measurement,
wherein the measurement is operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and
wherein, in the controlling the measurement;
a scan mode to be executed in the measurement is determined based on a moving state of the moving body;
information on a current position of the moving body is acquired;
information on a traveling direction of the moving body is acquired;
map information is acquired; and
the scan mode, based on the information on the current position, the information on the traveling direction, and the map information is determined.

12. A non-transitory storage medium storing a program causing a computer mounted to a moving body to:
perform measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves; and
control the measurement,
wherein the measurement is operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and
wherein the computer:
determines a scan mode to be executed in the measurement based on a moving suite of the moving body;
acquires information on a current position of the moving body;
acquires information on a traveling direction of the moving body;
acquires map information; and
determines the scan mode, based on the information on the current position, the information on the trawling direction, and the map information.

13. A measurement device mounted to a moving body, the measurement device comprising:
an irradiator and a receiver which perform measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves;
a memory configured to store instructions; and
a processor configured to execute the instructions to control the irradiator and the receiver,
wherein the irradiator and the receiver are operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and
wherein the processor determines a scan mode, as one of the first scan mode and the second scan mode, based on a planned travel route of the moving body from a current position to a destination input by a user.

14. The measurement device according to claim 13 , wherein the processor determines the scan mode as the first scan mode in a case where it is predicted that a steering wheel of the moving body is turned to left by a predetermined angle or more within a predetermined traveling distance, based on

Assignees

• Pioneer Corp

Inventors

• Matsuda Takehiro
• Miyanabe Shogo

Classifications

• G01S13/93 Primary

  for anti-collision purposes · CPC title

• G01C3/08

  Use of electric radiation detectors · CPC title

• G01S7/4817 Primary

  relating to scanning · CPC title

• G01S17/93

  for anti-collision purposes · CPC title

• G01S17/931

  of land vehicles · CPC title