| 摘要 |
PURPOSE:To detect the motion of an obstacle so as to take a proper avoiding action corresponding to the degree of danger by detecting the motion pattern of the obstacle and performing the avoiding operation based on its classification result. CONSTITUTION:Right and left laser radar head units 2 measure the motion direction and the speed of the obstacle. A signal processing unit 3 detects the motion direction, the position, and the speed of the obstacle based on the measurement result to obtain the motion pattern. This unit classifies this motion pattern as crossing in the, or entering a dangerous area from the outside, or going-out outsides this area. At this time, the unit 3 classifies the area, where the obstacle exists, as a 'dangerous area where collision is inevitable', an 'adjacent area where collision is possible', or an 'area where precaution is necessary'. Thus, the signal processing unit 3 deduces the position, the distance, and the degree of danger of the obstacle after a prescribed time to avoid the obstacle.
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