| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve the problem that a large error is included in an obtained inclination angle since a distance image is blurred a lot, even while a concentration gradient is obtained by image processing of a distance image and a rough inclination angle of an obstacle can be estimated from a gradient direction by a conventional aperture synthesis method for obtaining a position of an obstacle. <P>SOLUTION: Ultrasonic signals generated in a signal transmission part are transmitted from one of a plurality of ultrasonic sensors, the ultrasonic signals reflected from an obstacle and obtained by the plurality of ultrasonic sensors are received/stored in a signal reception part, and an obstacle position is specified from the received ultrasonic signals in an obstacle position detection part. An obstacle detector includes a signal intensity ratio angle estimation part for specifying reflected waves from the obstacle from reception signals of the respective ultrasonic sensors, obtaining a ratio of signal intensities of the reflected waves among the ultrasonic sensors, and obtaining an angle of the obstacle by referring to a signal intensity ratio angle calculation table storing a signal intensity ratio of the reflected waves from the obstacle obtained in the respective ultrasonic sensors with the obstacle, the ultrasonic sensors and the angle of the obstacle as parameters. <P>COPYRIGHT: (C)2013,JPO&INPIT |
