US 11,668,824 B2
Obstacle determination apparatus and vehicle
Yusuke Nakamura, Kanagawa (JP); Ryutaro Seno, Kanagawa (JP); Shingo Kawahara, Kanagawa (JP); and Toru Chikamitsu, Kanagawa (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Jul. 29, 2021, as Appl. No. 17/388,844.
Claims priority of application No. JP2020-132554 (JP), filed on Aug. 4, 2020.
Prior Publication US 2022/0043146 A1, Feb. 10, 2022
Int. Cl. G01S 15/931 (2020.01)
CPC G01S 15/931 (2013.01) 20 Claims
OG exemplary drawing
 
1. An obstacle determination apparatus, comprising:
a first determiner determining a difference in a propagation distance or a propagation time between a first round-trip path of a detection wave between a first position of a moving body and an object, and a second round-trip path of a detection wave from the first position to a second position of the moving body via the object, the second position being different from the first position; and
a second determiner determining whether the object is an obstacle based on a determination result of the first determiner.