Detection device and vehicle provided with detection device

Abstract

To detect a detection object with high accuracy in a detection device.SOLUTION: A detection device includes a pair of detectors attached to a vehicle that outputs electromagnetic waves in a longitudinal direction of the vehicle among the surrounding of the vehicle and is capable of detecting reflections of the outputted electromagnetic waves from a detection object. The pair of detectors include a first detector and a second detector. The first and the second detectors are arranged with a space therebetween in a width direction of the vehicle at one longitudinal end of the vehicle.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a detection device and a vehicle equipped with the detection device. [Background technology]

[0002] Patent Document 1 describes a position sensor mounted on a vehicle. The position sensor includes beam generating means for generating one beam, beam converting means for converting the one beam generated by the beam generating means into multiple beams, beam scanning means for simultaneously scanning the multiple beams converted by the beam converting means, multiple beam receiving means for distinguishing and receiving the multiple beams reflected from a detection object by the multiple beams scanned by the beam scanning means, and position information calculating means for calculating position information related to the detection object for each beam received by the multiple beam receiving means. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-248133 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the beam may not hit a part of the object to be detected that is in a blind spot, making it impossible to accurately detect the object. For example, if the object to be detected includes a gap through which a vehicle must enter, the beam may not hit the side surface that defines the gap, making it impossible to accurately detect the object to be detected.

[0005] The present disclosure aims to accurately detect a detection target in a detection device and a vehicle equipped with the detection device. [Means for solving the problem]

[0006] A detection device according to one aspect of the present disclosure includes a pair of detectors that, when attached to a vehicle, emit electromagnetic waves in the longitudinal direction of the vehicle around the vehicle and are capable of detecting reflection of the emitted electromagnetic waves from a detection target, the pair of detectors including a first detector and a second detector, and the first and second detectors are arranged at one end of the vehicle in the longitudinal direction and spaced apart from each other in the width direction of the vehicle.

[0007] A vehicle according to one aspect of the present disclosure includes the detection device.

[0008] According to one aspect of the present disclosure, a detection device and a vehicle equipped with the detection device can accurately detect a detection target. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view of a vehicle equipped with a detection device according to an embodiment. [Figure 2] FIG. 2 is a plan view of a vehicle equipped with a detection device according to the embodiment. [Figure 3] FIG. 3 is a block diagram of a vehicle control system according to the embodiment. [Figure 4] FIG. 4 is a flowchart showing the operations of the first detector and the second detector of the detection device according to the embodiment. [Figure 5] FIG. 5 is a flowchart of processing performed by the processing circuit of the detection device according to the embodiment. [Figure 6] FIG. 6 is a schematic diagram showing how the first detector and the second detector acquire point cloud data of the detection object. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment will be described with reference to the drawings. In the following description, the longitudinal direction of the vehicle 2 may be simply referred to as the "longitudinal direction," the width direction of the vehicle 2 may be simply referred to as the "width direction," and the height direction of the vehicle 2 may be simply referred to as the "height direction."

[0011] Fig. 1 is a side view of a vehicle 2 equipped with a detection device 1 according to an embodiment. Fig. 2 is a plan view of the vehicle 2. The detection device 1 detects a detection target DT present in the longitudinal direction around the vehicle 2. The detection device 1 includes a pair of detectors 10 and a first computer 20.

[0012] The pair of detectors 10 includes a first detector 11 and a second detector 12. The first detector 11 and the second detector 12 have the same structure. The first detector 11 and the second detector 12 are arranged at one longitudinal end 2a of the vehicle 2 with a gap between them in the width direction. In the present embodiment, the one longitudinal end 2a of the vehicle 2 is the front end of the vehicle 2. The vehicle 2 includes a first end 2b and a second end 2c in the width direction. In the present embodiment, the first detector 11 is arranged closer to the first end 2b in the width direction than a plane PL that passes through the center of the vehicle 2 in the width direction and is perpendicular to the width direction, and the second detector 12 is arranged closer to the second end 2c in the width direction than the plane PL. In the present embodiment, the first detector 11 is arranged at a lower end of the first end 2b in the width direction of the vehicle 2, and the second detector 12 is arranged at a lower end of the second end 2c in the width direction of the vehicle 2. The first detector 11 and the second detector 12 may be arranged on, for example, a bumper. The first detector 11 and the second detector 12 may be disposed on the front body, for example. The first detector 11 and the second detector 12 may be disposed below the bumper, for example. The first detector 11 and the second detector 12 may be directly attached to the vehicle 2. The first detector 11 and the second detector 12 may be attached to the vehicle 2 via an adapter, for example.

[0013] When attached to the vehicle 2, the first detector 11 and the second detector 12 each emit electromagnetic waves EW in the longitudinal direction around the vehicle 2 and can detect reflection of the emitted electromagnetic waves EW from a detection target DT. For example, the operations of the first detector 11 and the second detector 12 may be performed by a control device built into each of the first detector 11 and the second detector 12, or may be performed by the first computer 20. For example, the first detector 11 and the second detector 12 each include a 2D-LiDAR (Light Detection And Ranging) that can measure distances by scanning the electromagnetic waves EW in the horizontal direction.

[0014] The first computer 20 is mounted on the vehicle 2. The first computer 20 is communicably connected to each of the first detector 11, the second detector 12, and a second computer 40 mounted on the vehicle 2. Details of the first computer 20 and the second computer 40 will be described later.

[0015] The vehicle 2 includes a cab 30, a cargo bed 31 connected to the cab 30, a plurality of tires 32 supporting the cab 30 and the cargo bed 31, and a battery 33. The plurality of tires 32 includes, for example, a pair of front tires disposed at the front end of the vehicle 2 and a pair of rear tires disposed at the rear end of the vehicle 2. The battery 33 supplies power to devices requiring power in the vehicle 2 and the detection device 1 via an electric cable. In this embodiment, the vehicle 2 is a truck. In this embodiment, the vehicle 2 includes four tires 32, but the number of tires 32 may be three or more.

[0016] 3 is a block diagram of a control system for a vehicle 2 according to an embodiment. In this embodiment, a case is described in which a part of the detection device 1 is configured by a first computer 20, and the automatic driving control device 34 is configured by a second computer 40 different from the first computer 20. However, a part of the detection device 1 and the automatic driving control device 34 may be configured by a single common computer.

[0017] The first computer 20 is communicatively connected to each of the first detector 11 and the second detector 12 via an electric cable or a wireless communication device. The first computer 20 includes a processor 21, a system memory 22, a storage memory 23, and interfaces 24 and 25. The processor 21 is, for example, a microcontroller unit (MPU) or a central processing unit (CPU). The processor 21 may be distributed across multiple processors. The system memory 22 is, for example, a random access memory (RAM). The storage memory 23 is an example of a computer-readable medium and is a non-transitory, tangible medium. The storage memory 23 may include a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a hard disk, a flash memory, an optical disk, or a combination thereof.

[0018] The storage memory 23 stores a detection program PG1. The processor 21 reads the detection program PG1 from the storage memory 23 into the system memory 22 and executes it. The configuration in which the processor 21 executes the detection program PG1 read into the system memory 22 is an example of a processing circuit of the detection device 1. The first computer 20 can be an example of a processing circuit. Part or all of the detection program PG1 may be executed by a processing circuit of a server connected to the detection device 1 via a network.

[0019] Point cloud data PD (described later) corresponding to the detection target object DT is input to the interface 24 from each of the first detector 11 and the second detector 12. The interface 25 is an I / O interface that outputs position data calculated based on commands generated by the processor 21 in accordance with the detection program PG1 to an interface 46 of the automatic driving control device 34. The position data output by the interface 25 includes data representing the position of the gap GP into which the vehicle 2 should enter, and data representing the positions of a pair of corners CN in the gap GP. The interface 25 of the first computer 20 and the interface 46 of the second computer 40 are connected to each other via an electric cable or a wireless communication device so as to be able to communicate data with each other.

[0020] The vehicle 2 further includes an automatic driving control device 34, an antenna 35, a satellite positioning receiver 36, an engine 37, a braking device 38, and a steering device 39. An electric motor may be used as a prime mover instead of the engine 37. The vehicle 2 may further include a generator that generates electricity using the engine 37.

[0021] The automatic driving control device 34 receives position information by a satellite positioning receiver 36 via an antenna 35. The antenna 35 and the satellite positioning receiver 36 constitute part of a satellite positioning system. The satellite positioning system includes, for example, an RTK-GNSS or a quasi-zenith satellite system. The automatic driving control device 34 adjusts the speed, acceleration, and deceleration of the vehicle 2 by controlling an engine 37. The automatic driving control device 34 brakes the vehicle 2 by controlling a braking device 38. The automatic driving control device 34 adjusts the steering angle of the vehicle 2 by controlling a steering device 39.

[0022] The automatic driving control device 34 includes a second computer 40. The second computer 40 is communicatively connected to the satellite positioning receiver 36, the engine 37, the braking device 38, and the steering device 39 via electric cables or wireless communication devices. The second computer 40 includes a processor 41, a system memory 42, a storage memory 43, and interfaces (I / F) 44, 45, and 46. The processor 41 is, for example, a microcontroller unit (MPU) or a central processing unit (CPU). The processor 41 may be distributed across multiple processors. The system memory 42 is, for example, RAM. The storage memory 43 is an example of a computer-readable medium and is a non-transitory, tangible medium. The storage memory 43 may include a ROM, an EEPROM, a hard disk, a flash memory, an optical disk, or a combination thereof.

[0023] The storage memory 43 stores an automatic driving control program PG2. The processor 41 reads the automatic driving control program PG2 from the storage memory 43 into the system memory 42 and executes it. The configuration in which the processor 41 executes the automatic driving control program PG2 read into the system memory 42 is an example of a processing circuit of the automatic driving control device 34. Part or all of the automatic driving control program PG2 may be executed by a processing circuit of a server connected to the automatic driving control device 34 via a network.

[0024] The interface 44 receives position information received by the satellite positioning receiver 36 via the antenna 35. The interface 45 outputs drive commands generated by the processor 41 in accordance with the automatic driving control program PG2 to the engine 37, braking device 38, and steering device 39. The interface 46 is an I / O interface to which the position data output from the interface 25 of the detection device 1 is input.

[0025] Fig. 4 is a flowchart of the operations of the first detector 11 and the second detector 12 of the detection device 1. Fig. 5 is a flowchart of processing performed by a processing circuit of the detection device 1. Fig. 6 is a schematic diagram showing how the first detector 11 and the second detector 12 acquire point cloud data PD of the detection target DT. Below, the operations of the first detector 11 and the second detector 12 will be described in accordance with the flow of the flowchart in Fig. 4, with reference to Figs. 1 to 3 as appropriate and primarily to Fig. 6.

[0026] First, the first detector 11 and the second detector 12 each output an electromagnetic wave EW in the longitudinal direction around the vehicle 2 (step S1). The electromagnetic wave EW is, for example, a laser beam. In this embodiment, the first detector 11 and the second detector 12 each output the electromagnetic wave EW around the vehicle 2 in front of the vehicle 2. In this embodiment, the first detector 11 and the second detector 12 each scan a linear electromagnetic wave EW in the horizontal direction as indicated by the arrows in FIG. 6. The first detector 11 and the second detector 12 may each start outputting the electromagnetic wave EW before the vehicle 2 travels autonomously and is positioned within a predetermined range from the detection target DT, or may start outputting the electromagnetic wave EW when the vehicle 2 travels autonomously and is positioned within a predetermined range from the detection target DT. The predetermined range is, for example, a range of 3 meters to 10 meters from the detection target DT. The predetermined range may also be a range of 5 meters from the detection target DT.

[0027] When the vehicle 2 is located within a predetermined range from the detection object DT, the first detector 11 and the second detector 12 are provided on the vehicle 2 so that, when viewed from the height direction, a straight line passing through the first detector 11 and the second part DTb and a straight line passing through the second detector 12 and the first part DTa intersect in the area between the detection object DT and the vehicle 2.

[0028] In this embodiment, the detection object DT is the entrance / exit of the garage through which the vehicle 2 enters and exits, and the surrounding area of ​​this entrance. In this embodiment, the detection object DT, when facing one longitudinal end 2a of the vehicle 2, includes a first portion DTa located closer to the first end 2b in the width direction than the plane PL, and a second portion DTb located closer to the second end 2c in the width direction than the plane PL and facing the first portion DTa across a gap GP through which the vehicle 2 must enter. The gap GP includes an entrance GPa through which the vehicle 2 must pass. The entrance GPa is defined by a pair of corners CN extending in the height direction. One of the pair of corners CN is part of the first portion DTa, and the other of the pair of corners CN is part of the second portion DTb.

[0029] Next, the first detector 11 and the second detector 12 each detect reflection of the electromagnetic wave EW output in step S1 from the detection target DT (step S2). In this embodiment, the first detector 11 can detect reflection from the second portion DTb of the electromagnetic wave EW, and the second detector 12 can detect reflection from the first portion DTa of the electromagnetic wave EW. The first detector 11 and the second detector 12 can also detect reflection of the electromagnetic wave EW from an object other than the detection target DT. The object other than the detection target DT may be, for example, a wall or other object located farther from the detection target DT around the vehicle 2 as viewed from the driver's cab 30 of the vehicle 2.

[0030] Next, the first detector 11 and the second detector 12 each acquire point cloud data PD corresponding to the detection object DT based on the reflection of the electromagnetic wave EW detected in step S2 (step S3). In this embodiment, the first detector 11 acquires point cloud data PD corresponding to the second part DTb, and the second detector 12 acquires point cloud data PD corresponding to the first part DTa. The first detector 11 and the second detector 12 may also each acquire point cloud data corresponding to an object other than the detection object DT.

[0031] The point cloud data PD is represented by coordinates in a coordinate system defined on a plane parallel to the width direction and the longitudinal direction. In this embodiment, the point cloud data PD acquired by the first detector 11 and the point cloud data PD acquired by the second detector 12 are represented by coordinates in a common coordinate system. In this embodiment, this coordinate system is a two-dimensional coordinate system including an X-axis extending along the width direction and a Y-axis extending along the longitudinal direction and perpendicular to the X-axis. In this embodiment, the origin of this coordinate system is located at the center in the width direction of one end 2a of the vehicle 2 in the longitudinal direction. In this embodiment, the origin of the coordinate system is located at the center between the first detector 11 and the second detector 12 in the width direction of the vehicle 2.

[0032] Finally, the first detector 11 and the second detector 12 each output the point cloud data PD corresponding to the detection object DT acquired in step S3 to the first computer 20 (step S4). The first detector 11 and the second detector 12 may also output point cloud data corresponding to objects other than the detection object DT to the first computer 20.

[0033] Next, the processing performed by the processing circuit of the detection device 1 will be described along the flow chart of FIG. 5, with reference to FIGS. 1 to 3 as appropriate and mainly to FIG.

[0034] First, the first computer 20 acquires point cloud data PD corresponding to the detection object DT from each of the first detector 11 and the second detector 12 (step S5). In this embodiment, the first computer 20 acquires point cloud data PD corresponding to the second part DTb from the first detector 11, and acquires point cloud data PD corresponding to the first part DTa from the second detector 12. The first computer 20 may also acquire point cloud data corresponding to objects other than the detection object DT from each of the first detector 11 and the second detector 12.

[0035] Next, the first computer 20 determines whether the point cloud data PD acquired in step S5 corresponds to the detection object DT (step S6). The first computer 20 may determine whether the point cloud data PD corresponds to the detection object DT, for example, by pattern matching using reference data stored in the storage memory 23 and the point cloud data PD acquired in step S5. In this case, the storage memory 23 stores, as reference data, for example, data indicating the shape and dimensions of the first part DTa and the second part DTb, and the distance between the first part DTa and the second part DTb.

[0036] Next, if the first computer 20 determines in step S6 that the point cloud data PD corresponds to the detection object DT, it identifies the position of the gap GP (step S7). The first computer 20 may identify the position of the gap GP by pattern matching using reference data stored in the storage memory 23 and the point cloud data PD acquired in step S5. The first computer 20 may calculate the shape of the detection object DT by performing principal component analysis on the point cloud data PD, and identify the position of the gap GP based on the calculated shape. When performing principal component analysis on the point cloud data PD, the first computer 20 may calculate two straight lines corresponding to the side surfaces of the first part DTa in a planar view by finding the direction in which the variance of the point cloud data PD is greatest and the direction in which the variance of the point cloud data PD is second greatest, thereby calculating the shape of the first part DTa. Step S7 may be executed together with step S6.

[0037] Next, the first computer 20 calculates the positions of the pair of corners CN (step S8). The first computer 20 may calculate the positions of the pair of corners CN by pattern matching using the reference data stored in the storage memory 23 and the point cloud data PD acquired in step S5. The first computer 20 may calculate the shape of the detection object DT by performing principal component analysis on the point cloud data PD, and calculate the positions of the pair of corners CN based on the calculated shape. When the first computer 20 performs principal component analysis on the point cloud data PD, the first computer 20 may calculate two straight lines corresponding to the side surfaces of the first part DTa in a planar view, further calculate the position of the intersection of the calculated two straight lines, and set the position of this intersection as the position of one of the pair of corners CN. The first computer 20 may calculate the position of the other of the pair of corners CN by a method similar to the method for calculating the position of the other of the pair of corners CN. Step S8 may be executed together with steps S6 and S7.

[0038] Finally, the first computer 20 outputs the position of the gap GP identified in step S7 and the positions of the pair of corners CN calculated in step S8 to the automatic driving control device 34 (step S9). In step S9, the first computer 20 may further output the point cloud data PD acquired in step S5 to the automatic driving control device 34. The automatic driving control device 34 controls the engine 37 and the steering device 39 so that the vehicle 2 enters the gap GP between the pair of corners CN. For example, the automatic driving control device 34 controls the engine 37 and the steering device 39 so that the vehicle 2 moves toward the center between the pair of corners CN.

[0039] According to the configuration of this embodiment, the first detector 11 and the second detector 12 are arranged at a distance from each other in the width direction at one longitudinal end 2a of the vehicle 2, which makes it possible to prevent a part of the detection target DT from being in a blind spot, compared to when only one detector is arranged at one longitudinal end 2a of the vehicle 2. Therefore, the detection device 1 can accurately detect the detection target DT.

[0040] The first detector 11 is positioned closer to the first end 2b of the vehicle 2 in the width direction than the plane PL, and the second detector 12 is positioned closer to the second end 2c in the width direction than the plane PL, thereby significantly enhancing the effect that the detection device 1 can accurately detect the object to be detected DT.

[0041] By arranging the first detector 11 at the first end 2b and the second detector 12 at the second end 2c, the effect of the detection device 1 being able to accurately detect the object to be detected DT can be made even more pronounced.

[0042] The first detector 11 is capable of detecting reflection from the second part DTb of the electromagnetic wave EW, and the second detector 12 is capable of detecting reflection from the first part DTa of the electromagnetic wave EW, thereby further preventing a part of the object to be detected DT from being in a blind spot.

[0043] The first computer 20 acquires point cloud data PD from each of the first detector 11 and the second detector 12, and based on the point cloud data PD, identifies the position of the gap GP into which the vehicle 2 should enter, thereby easily identifying the position of the gap GP.

[0044] The point cloud data PD acquired by the first detector 11 and the point cloud data PD acquired by the second detector 12 are represented by coordinates in a common coordinate system. Therefore, the calculation load on the first computer 20 can be reduced.

[0045] The origin of the common coordinate system is located at the center in the width direction at one longitudinal end 2a of the vehicle 2, which allows the first computer 20 to easily calculate the distance from the vehicle 2 to the detection target DT. By locating the origin of the coordinate system at the center between the first detector 11 and the second detector 12 in the width direction of the vehicle 2, it becomes easy to set the coordinate systems of the first detector 11 and the second detector 12.

[0046] The first computer 20 identifies the position of the gap GP and calculates the positions of the pair of corners CN by pattern matching using the point cloud data PD and the reference data. This allows the first computer 20 to easily identify the position of the gap GP and easily calculate the positions of the pair of corners CN.

[0047] The first computer 20 calculates the shape of the detection object DT by performing principal component analysis, and identifies the position of the gap GP and calculates the positions of the pair of corners CN based on the calculated shape of the detection object DT. This allows the processing circuit to easily identify the position of the gap GP and easily calculate the positions of the pair of corners CN.

[0048] By providing the detection device 1, the vehicle 2 is controlled in accordance with the position of the detection target DT that is accurately detected, and therefore the safety of the vehicle 2 is improved.

[0049] The positions at which the first detector 11 and the second detector 12 are arranged are not limited to the configuration of this embodiment. For example, one longitudinal end 2a of the vehicle 2 may be the rear end of the vehicle 2, and the first detector 11 and the second detector 12 may be arranged at the rear end of the vehicle 2. The detection device 1 may include two pairs of detectors 10, one of which is arranged at the front end of the vehicle 2 and the other of which is arranged at the rear end of the vehicle 2. For example, the first detector 11 may be arranged at the upper end of the first end 2b in the width direction of the vehicle 2 or at the center in the height direction of the first end 2b in the width direction of the vehicle 2. The second detector 12 may be arranged at the upper end of the second end 2c in the width direction of the vehicle 2 or at the center in the height direction of the first end 2b in the width direction of the vehicle 2.

[0050] The first detector 11 and the second detector 12 are not limited to 2D-LiDARs. The first detector 11 and the second detector 12 may each be a 3D-LiDAR, or may be any other detector that, when attached to the vehicle 2, emits electromagnetic waves EW in the longitudinal direction around the vehicle 2 and can detect reflection of the emitted electromagnetic waves EW from a detection target DT. When the first detector 11 and the second detector 12 are each a 3D-LiDAR, the first computer 20 may acquire point cloud data PD expressed by coordinates of a two-dimensional coordinate system defined on a plane parallel to the width direction and the longitudinal direction from the three-dimensional point cloud data PD acquired from the 3D-LiDAR.

[0051] The relationship between the point cloud data PD acquired by the first detector 11 and the point cloud data PD acquired by the second detector 12 is not limited to this embodiment. The point cloud data PD acquired by the first detector 11 and the point cloud data PD acquired by the second detector 12 may be represented by coordinates in different coordinate systems. When the point cloud data PD acquired by the first detector 11 and the point cloud data PD acquired by the second detector 12 are represented by coordinates in different coordinate systems, for example, the origin of the coordinate system representing the point cloud data PD acquired by the first detector 11 may be located on the first detector 11, and the origin of the coordinate system representing the point cloud data PD acquired by the second detector 12 may be located on the second detector 12.

[0052] The origin of the common coordinate system representing the point cloud data PD acquired by the first detector 11 and the point cloud data PD acquired by the second detector 12 may be located other than at one longitudinal end 2a of the vehicle 2, or other than at the center of the width of the vehicle 2, or may be located on the first detector 11 or the second detector 12, or may be located at a location away from the vehicle 2.

[0053] The vehicle 2 is not limited to a truck as in this embodiment. The detection object DT is not limited to the entrance / exit of a garage and the surrounding area of ​​this entrance as in this embodiment. For example, the vehicle 2 may be a transport vehicle, a heavy goods vehicle, a work vehicle, a snowplow, a spreader, a carrier, or a carrier pallet vehicle. For example, the detection object DT may be an object placed on both sides of an area into which the vehicle 2 must enter. The vehicle 2 may be a carrier pallet vehicle, and the detection object DT may be the leg of a pallet transported by this carrier pallet vehicle.

[0054] Control of the vehicle 2 is not limited to this embodiment. The vehicle 2 may be driven by a human operating the steering device 39, etc. When the vehicle 2 is driven by a human operating the steering device 39, etc., the automatic driving control device 34 may have a support function for the human operating the steering device 39, etc. When the automatic driving control device 34 has a support function, the position of the gap GP of the detection object DT and the positions of the pair of corners CN acquired from the detection device 1 may be used for the support function. The support function may be, for example, automatic braking control to prevent the vehicle 2 from colliding with the detection object DT, or control to output an alarm by an alarm device when the vehicle 2 gets too close to the detection object DT, or any other support function.

[0055] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0056] Each of the following aspects is a disclosure of a preferred embodiment. [Aspect 1] a pair of detectors that, when attached to a vehicle, emit electromagnetic waves in a longitudinal direction of the vehicle among the periphery of the vehicle and are capable of detecting reflection of the emitted electromagnetic waves from a detection target; the pair of detectors includes a first detector and a second detector; The first and second detectors are arranged at one end of the vehicle in the longitudinal direction and spaced apart from each other in the width direction of the vehicle. [Aspect 2] The vehicle includes a first end and a second end in the width direction, the first detector is disposed closer to the first end in the width direction than a plane that passes through a center of the vehicle in the width direction and is perpendicular to the width direction, 2. The detection device according to aspect 1, wherein the second detector is disposed closer to the second end portion in the width direction than the plane. [Aspect 3] the first detector is disposed at the first end; 3. The detection apparatus of claim 2, wherein the second detector is disposed at the second end. [Aspect 4] the detection object includes, when facing one end of the vehicle in the longitudinal direction, a first portion located closer to the first end than the plane in the width direction, and a second portion located closer to the second end than the plane in the width direction, facing the first portion across a gap into which the vehicle should enter; 4. The detection apparatus of claim 2 or 3, wherein the first detector is capable of detecting reflection from the second portion of the electromagnetic wave, and the second detector is capable of detecting reflection from the first portion of the electromagnetic wave. [Aspect 5] further comprising a processing circuit coupled to each of the first and second detectors; the first and second detectors each acquire point cloud data corresponding to the detection object based on reflection of the electromagnetic wave from the detection object; the point cloud data is represented by coordinates of a coordinate system defined on a plane parallel to the width direction and the longitudinal direction, the detection object includes a gap into which the vehicle should enter, The processing circuitry acquiring the point cloud data from each of the first and second detectors; 5. The detection device according to any one of aspects 1 to 4, wherein the position of the gap is identified based on the point cloud data. [Aspect 6] The detection device according to aspect 5, wherein the point cloud data acquired by the first detector and the point cloud data acquired by the second detector are represented by coordinates in a common coordinate system. [Aspect 7] A detection device according to aspect 6, wherein the origin of the common coordinate systems is located at the center in the width direction of the vehicle at one end in the longitudinal direction. [Aspect 8] a memory for storing reference data indicating the gap; the gap includes an entrance through which the vehicle must pass; The inlet is defined by a pair of corners extending in a height direction; The processing circuitry The detection device according to any one of aspects 5 to 7, wherein the position of the gap is identified and the positions of the pair of corners are calculated by pattern matching using the point cloud data and the reference data. [Aspect 9] the gap includes an entrance through which the vehicle must pass; The inlet is defined by a pair of corners extending in a height direction; The processing circuitry calculating a shape of the detection object by performing principal component analysis on the point cloud data; The detection device according to any one of aspects 5 to 7, further comprising: identifying a position of the gap based on the shape; and calculating positions of the pair of corners. [Aspect 10] A vehicle comprising the detection device according to any one of aspects 1 to 9. [Explanation of symbols]

[0057] 1. Detection device 2 vehicles 2a One end in the longitudinal direction 2b First end in width direction 2c: second end in the width direction 10 pairs of detectors 11 First detector 12 Second detector 20 First computer (processing circuit) PD point cloud data DT Detection target DTa Part 1 DTb Part 2 GP gap GPa inlet CN Pair of corners EW electromagnetic waves PL A plane that passes through the center of the vehicle width and is perpendicular to the width.

Claims

1. a pair of detectors that, when attached to a vehicle, emit electromagnetic waves in a longitudinal direction of the vehicle among the periphery of the vehicle and are capable of detecting reflection of the emitted electromagnetic waves from a detection target; the pair of detectors includes a first detector and a second detector; The first and second detectors are arranged at one end of the vehicle in the longitudinal direction and spaced apart from each other in the width direction of the vehicle.

2. The vehicle includes a first end and a second end in the width direction, the first detector is disposed closer to the first end in the width direction than a plane that passes through a center of the vehicle in the width direction and is perpendicular to the width direction, The detection device according to claim 1 , wherein the second detector is disposed closer to the second end portion in the width direction than the plane.

3. the first detector is disposed at the first end; The detection apparatus of claim 2 , wherein the second detector is disposed at the second end.

4. the detection object includes, when facing one end of the vehicle in the longitudinal direction, a first portion located closer to the first end than the plane in the width direction, and a second portion located closer to the second end than the plane in the width direction, facing the first portion across a gap into which the vehicle should enter; 4. The detection apparatus of claim 2 or 3, wherein the first detector is capable of detecting reflection from the second portion of the electromagnetic wave, and the second detector is capable of detecting reflection from the first portion of the electromagnetic wave.

5. further comprising a processing circuit coupled to each of the first and second detectors; the first and second detectors each acquire point cloud data corresponding to the detection object based on reflection of the electromagnetic waves from the detection object; the point cloud data is represented by coordinates of a coordinate system defined on a plane parallel to the width direction and the longitudinal direction, the detection object includes a gap into which the vehicle should enter, The processing circuitry acquiring the point cloud data from each of the first and second detectors; The detection device according to claim 1 , wherein the position of the gap is identified based on the point cloud data.

6. The detection device according to claim 5 , wherein the point cloud data acquired by the first detector and the point cloud data acquired by the second detector are represented by coordinates in the coordinate system that is common to each other.

7. The detection device according to claim 6 , wherein the origin of the common coordinate systems is located at the center in the width direction of the vehicle at one end in the longitudinal direction.

8. a memory for storing reference data indicating the gap; the gap includes an entrance through which the vehicle must pass; The inlet is defined by a pair of corners extending in a height direction; The processing circuitry The detection device according to claim 5 , wherein the position of the gap is identified and the positions of the pair of corners are calculated by pattern matching using the point cloud data and the reference data.

9. the gap includes an entrance through which the vehicle must pass; The inlet is defined by a pair of corners extending in a height direction; The processing circuitry calculating a shape of the detection object by performing principal component analysis on the point cloud data; The detection device according to claim 5 , wherein the position of the gap is identified and the positions of the pair of corners are calculated based on the shape.

10. A vehicle comprising the detection device according to any one of claims 1 to 3.

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