Moving object control apparatus and method of controlling moving object

Patent metadata

Field	Value
Publication number	US-2018374352-A1
Application number	US-201616062549-A
Country	US
Kind code	A1
Filing date	Dec 7, 2016
Priority date	Dec 17, 2015
Publication date	Dec 27, 2018
Grant date	—

Abstract

A moving object control apparatus includes an object detecting device that detects an object present around a moving object. The moving object control apparatus performs predetermined control based on a detection result of the object detecting device while the moving object is moving. In the moving object control apparatus a trajectory of a stationary object relative to the moving object is acquired and a moving direction of the moving object is acquired. An angle of axial displacement of a center axis of the object detecting device is calculated, as axial displacement information, based on the trajectory and the moving direction. The predetermined control is performed based on the axial displacement information. A regulating unit regulates reflecting the axial displacement information in the predetermined control if an absolute value of an angular acceleration around a center of gravity of the moving object is larger than a preset threshold value.

First claim

1 . A moving object control apparatus including an object detecting device that detects an object present around a moving object, the moving object control apparatus being configured to perform predetermined control based on a detection result of the object detecting device while the moving object is moving, the moving object control apparatus comprising:
a trajectory acquiring unit that acquires a trajectory of a stationary object relative to the moving object; a direction acquiring unit that acquires a moving direction of the moving object; an angle calculating unit that calculates, as information on axial displacement, an angle of axial displacement of a center axis of the object detecting device based on the trajectory and the moving direction; a control unit that performs the predetermined control on based on the information on axial displacement; and a regulating unit that regulates reflecting the information on axial displacement in the predetermined control if an absolute value of an angular acceleration around a center of gravity of the moving object is larger than a preset threshold value, wherein the regulating unit is configured to i) reflect the information on axial displacement after a predetermined period of time elapses after the absolute value of the angular acceleration falls below the threshold value and ii) prevent the axial displacement from being reflected when, before the predetermined period of time elapses, the absolute value of the angular acceleration changes from a state where the absolute value of the angular acceleration is below the threshold value to a state where the absolute value of the angular acceleration becomes equal to or over the threshold value.

2 . (canceled)

3 . The moving object control apparatus according to claim 1 , wherein
the angle calculating unit calculates the information on axial displacement at predetermined intervals, and the regulating unit interrupts reflecting the information on axial displacement if the absolute value of the angular acceleration exceeds the threshold value, and restarts reflecting the information on axial displacement after a predetermined period of time elapses after the absolute value of the angular acceleration falls below the threshold value.

4 . The moving object control apparatus according to claim 1 , wherein
the control unit performs the predetermined control using a value of a center of gravity of distribution of pieces of the information on axial displacement calculated multiple times, and the regulating unit regulates reflecting the information on axial displacement in the center of gravity value.

5 . The moving object control apparatus according to claim 1 , wherein
the direction acquiring unit acquires the moving direction based on an angular velocity around a center of gravity of the moving object and a moving speed of the moving object.

6 . The moving object control apparatus according to claim 1 , wherein
the control unit includes a correction unit that corrects a position of the object detected by the object detecting device based on the information on axial displacement calculated by the angle calculating unit.

7 . The moving object control apparatus according to claim 1 , wherein
if the absolute value of the angular acceleration around a center of gravity of the moving object is larger than the threshold value, the angle calculating unit does not calculate the information on axial displacement so as not to reflect the information on axial displacement in the predetermined control.

8 . The moving object control apparatus according to claim 1 , wherein
the control unit does not use, for the predetermined control, the information on axial displacement calculated when the absolute value of the angular acceleration around a center of gravity of the moving object is larger than the threshold value so as not to reflect the information on axial displacement in the predetermined control.

9 . A method of controlling a moving object that is executed by a moving object control apparatus including an object detecting device that detects an object present around a moving object, the moving object control apparatus being configured to perform predetermined control based on a detection result of the object detecting device while the moving object is moving, the method comprising:
a trajectory acquiring step of acquiring a trajectory of a stationary object relative to the moving object; a direction acquiring step of acquiring a moving direction of the moving object; an angle calculating step of calculating, as information on axial displacement, an angle of axial displacement of a center axis of the object detecting device based on the trajectory and the moving direction; a control step of performing the predetermined control based on the information on axial displacement; and a regulating step of regulating reflecting the information on axial displacement in the predetermined control if an absolute value of an angular acceleration around a center of gravity of the moving object is larger than a preset threshold value, wherein the regulating step includes i) reflecting the information on axial displacement after a predetermined period of time elapses after the absolute value of the angular acceleration falls below the threshold value and ii) preventing the axial displacement from being reflected when, before the predetermined period of time elapses, the absolute value of the angular acceleration changes from a state where the absolute value of the angular acceleration is below the threshold value to a state where the absolute value of the angular acceleration becomes equal to or over the threshold value.

10 . (canceled)

11 . The method of controlling a moving object according to claim 9 , wherein
the control step includes a correction step of correcting a position of the object detected by the object detecting device based on the information on axial displacement calculated in the angle calculating step.

12 . The moving object control apparatus according to claim 3 , wherein
the control unit performs the predetermined control using a value of a center of gravity of distribution of pieces of the information on axial displacement calculated multiple times, and the regulating unit regulates reflecting the information on axial displacement in the center of gravity value.

13 . The moving object control apparatus according to claim 12 , wherein
the direction acquiring unit acquires the moving direction based on an angular velocity around a center of gravity of the moving object and a moving speed of the moving object.

14 . The moving object control apparatus according to claim 13 , wherein
the control unit includes a correction unit that corrects a position of the object detected by the object detecting device ( 21 , 22 ) based on the information on axial displacement calculated by the angle calculating unit.

15 . The moving object control apparatus according to claim 14 , wherein
if the absolute value of the angular acceleration around a center of gravity of the moving object is larger than the threshold value, the angle calculating unit does not calculate the information on axial displacement so as not to reflect the information on axial displacement in the predetermined control.

16 . The moving object control apparatus according to claim 14 , wherein
the control unit does not use, for the predetermined control, the information on axial displacement calculated when the absolute value of the angular acceleration around a center of gravity of the moving object is larger than t

Assignees

• Denso Corp

Inventors

• Matsunaga Shogo

Classifications

• B60W2554/00

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