| CPC G01S 17/931 (2020.01) [G01C 9/02 (2013.01); G01S 17/89 (2013.01)] | 20 Claims |
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1. A movable object comprising:
a vehicle body;
a distance sensor that measures a distance to a physical object;
a tilt sensor that measures an orientation angle of the vehicle body; and
a controller connected to the distance sensor and the tilt sensor,
wherein:
the controller
acquires a measurement value of a detection range from the distance sensor,
generates an object detection map based on the measurement value acquired from the distance sensor, the object detection map including a first record, a second record, and a third record, the first record serving as an area where there is no physical object, the second record serving as an area where there is the physical object, the third record serving as an area where the presence or absence of the physical object is unknown,
calculates a valid range of the detection range on the basis of the orientation angle acquired from the tilt sensor,
invalidates the measurement value of an invalid range not included in the valid range by replacing the measurement value of the invalid range with the third record,
postpones a determination of the presence or absence of the physical object in the invalid range, and
after the vehicle body approaches the invalid range, acquires a measurement value of the invalid range from the distance sensor again, and determines the presence or absence of the physical object on the basis of the measurement value of the invalid range,
the valid range is defined as a range where the distance between the physical object and the vehicle body is measured by the distance sensor.
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