Control apparatus, control method, and program
The control apparatus ( 200 ) is an apparatus that controls the travel of a target vehicle ( 10 ). The control apparatus ( 200 ) detects a partial object ( 20 ) using a sensor. The partial object ( 20 ) is a part of an object riding on the target vehicle ( 10 ) and is jutting outside the target vehicle ( 10 ). Furthermore, the control apparatus ( 200 ) outputs information (travel information) relating to travel of the target vehicle ( 10 ) based on the detected partial object ( 20 ). For example, the travel information is control information for travel control of the target vehicle ( 10 ) and notification information indicating information relating to the partial object ( 20 ).
1. A control apparatus comprising:
a detection unit that detects a partial object using a sensor, wherein the partial object is a part of an object riding on a vehicle and is jutting outside the vehicle; and
an output control unit that outputs travel information relating to travel of the vehicle based on the detected partial object,
wherein the detection unit acquires point cloud data as a result of detection performed by the sensor, extracts a foreground area representing the vehicle or the object riding on the vehicle from the point cloud data, and determines an area representing the partial object by computing a difference between the foreground area and a predetermined area representing the vehicle,
wherein the point cloud data is 3D point cloud data,
wherein the detection unit:
generates a cluster by clustering a plurality of point data included in the point cloud data based on a distance between the point data; and
extracts the foreground area by determining, as a cluster representing the foreground area, a cluster that satisfies a condition that a distance to the vehicle is within a predetermined distance or a cluster that satisfies a condition that moves along with the vehicle over time, and
wherein the information relating to the travel of the vehicle includes at least one of notification information indicating information about the partial object and control information for controlling the vehicle.
2. The control apparatus according to claim 1 , wherein the information relating to the travel of the vehicle includes notification information indicating information about the partial object, and
wherein the output control unit causes an output device to output the notification information.
3. The control apparatus according to claim 2 , wherein the notification information includes information for determining a type of the object riding on the vehicle, or information relating to a position of the object.
4. The control apparatus according to claim 1 , wherein the information relating to the travel of the vehicle includes control information for controlling the vehicle, and
wherein the output control unit outputs the control information to an apparatus that controls the travel of the vehicle.
5. The control apparatus according to claim 4 , wherein the control information is information for controlling a velocity of the vehicle based on a size of the partial object.
6. The control apparatus according to claim 5 , wherein the control information is information for setting the velocity of the vehicle to a value equal to or lower than a second predetermined value when the size of the partial object is equal to or larger than a first predetermined value.
7. The control apparatus according to claim 4 , wherein the control information is information for preventing the vehicle from starting moving when a size of the partial object is equal to or larger than a third predetermined value.
8. The control apparatus according to claim 4 , wherein the control information is information for deciding a traveling route of the vehicle based on at least one of a size of the partial object and a position of the partial object.
9. The control apparatus according to claim 4 , wherein the control information is information for deciding a travel position of the vehicle on a road based on at least one of a size of the partial object and a position of the partial object.
10. The control apparatus according to claim 9 , wherein the control information is information for deciding a size of a margin between the vehicle and an object around the vehicle based on at least one of the size of the partial object and the position of the partial object.
11. The control apparatus according to claim 4 , wherein the information relating to the travel of the vehicle includes notification information for notifying a passenger of a danger, and
wherein the notification information includes a content of a vehicle control performed by the output control unit.
12. The control apparatus according to claim 1 , wherein the sensor is a light detection and ranging (LIDAR) sensor provided on the vehicle.
13. A computer-implemented control method for controlling travel of a vehicle, the control method comprising:
detecting a partial object using a sensor, wherein the partial object is a part of an object riding on a vehicle and is jutting outside the vehicle; and
outputting travel information relating to the travel of the vehicle based on the detected partial object,
wherein the detecting includes acquiring point cloud data as a result of detection performed by the sensor, extracting a foreground area representing the vehicle or the object riding on the vehicle from the point cloud data, and determining an area representing the partial object by computing a difference between the foreground area and a predetermined area representing the vehicle,
wherein the point cloud data is 3D point cloud data,
wherein the detecting includes:
generating a cluster by clustering a plurality of point data included in the point cloud data based on a distance between the point data; and
extracting the foreground area by determining, as a cluster representing the foreground area, a cluster that satisfies a condition that a distance to the vehicle is within a predetermined distance or a cluster that satisfies a condition that moves along with the vehicle over time, and
wherein the information relating to the travel of the vehicle includes at least one of notification information indicating information about the partial object and control information for controlling the vehicle.
14. A non-transitory computer-readable medium storing a program that causes a computer to execute each step of the control method according to claim 13 .
15. A control apparatus comprising:
a detection unit that detects a partial object using a sensor, wherein the partial object is a part of an object riding on a vehicle and is jutting outside the vehicle; and
an output control unit that outputs travel information relating to travel of the vehicle based on the detected partial object,
wherein the detection unit acquires point cloud data as a result of detection performed by the sensor, extracts a foreground area representing the vehicle or the object riding on the vehicle from the point cloud data, and determines an area representing the partial object by computing a difference between the foreground area and a predetermined area representing the vehicle,
wherein the information relating to the travel of the vehicle includes information for determining a size of a margin between the vehicle and an object around the vehicle based on at least one of a size of the partial object and a position of the partial object,
wherein the control apparatus is programmed to correct the margin by multiplying the size of the margin, determined according to a degree of opening of a window of the vehicle, by a coefficient according to whether or not a seat belt in the vehicle is fastened, and
wherein the information relating to the travel of the vehicle includes at least one of notification information indicating information about the partial object and control information for controlling the vehicle.
16. A computer-implemented control method for controlling travel of a vehicle, the control method comprising:
detecting a partial object using a sensor, wherein the partial object is a part of an object riding on a vehicle and is jutting outside the vehicle; and
outputting travel information relating to the travel of the vehicle based on the detected partial object,
wherein the detecting includes acquiring point cloud data as a result of detection performed by the sensor, extracting a foreground area representing the vehicle or the object riding on the vehicle from the point cloud data, and determining an area representing the partial object by computing a difference between the foreground area and a predetermined area representing the vehicle,
wherein the information relating to the travel of the vehicle includes information for determining a size of a margin between the vehicle and an object around the vehicle based on at least one of a size of the partial object and a position of the partial object,
wherein the margin is corrected by multiplying the size of the margin, determined according to a degree of opening of a window of the vehicle, by a coefficient according to whether or not a seat belt in the vehicle is fastened, and
wherein the information relating to the travel of the vehicle includes at least one of notification information indicating information about the partial object and control information for controlling the vehicle.
17. A non-transitory computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out:
detecting a partial object using a sensor, wherein the partial object is a part of an object riding on a vehicle and is jutting outside the vehicle; and
outputting travel information relating to the travel of the vehicle based on the detected partial object,
wherein the detecting includes acquiring point cloud data as a result of detection performed by the sensor, extracting a foreground area representing the vehicle or the object riding on the vehicle from the point cloud data, and determining an area representing the partial object by computing a difference between the foreground area and a predetermined area representing the vehicle,
wherein the information relating to the travel of the vehicle includes information for determining a size of a margin between the vehicle and an object around the vehicle based on at least one of a size of the partial object and a position of the partial object,
wherein the margin is corrected by multiplying the size of the margin, determined according to a degree of opening of a window of the vehicle, by a coefficient according to whether or not a seat belt in the vehicle is fastened, and
wherein the information relating to the travel of the vehicle includes at least one of notification information indicating information about the partial object and control information for controlling the vehicle.