PROBLEM TO BE SOLVED: To provide a road surface detection device capable of identifying recessed parts of a road surface, such as holes and ditches, by sensing a road surface condition.SOLUTION: A vehicle 1 is provided with a ranging sensor 11 for measuring detected distance to a road surface 100. A road surface detection device performs recess determination to determine presence or absence of a recessed part 101 on the road surface 100 based on measurements made by the ranging sensor 11. Road surface information includes a plurality of measurement points ST that are set along a travel direction X. The ranging sensor 11 is configured to output a detected height with reference thereto for each measurement point ST. The recess determination involves; computing differences in detected distance and detected height between adjacent measurement points ST; specifying a measurement point ST with the differences that exceed respectively predetermined thresholds as a point of change; and making determination based on presence or absence of the point of change.SELECTED DRAWING: Figure 1
【課題】路面の状態を検知することで、路面の穴や溝といった凹部を把握することができる路面検知装置を提供する。【解決手段】移動体1は、路面100までの検知距離を測定する測距センサ11を備えている。路面検知装置は、測距センサ11の測距結果に基づいて、路面100に凹部101があるか否かの凹部判定をする。路面情報は、進行方向Xに沿って並んだ複数の測定点STが設定されている。測距センサ11は、測定点ST毎に、測距センサ11を基準とした検知高度を出力する構成とされている。凹部判定では、隣接する測定点STの検知距離および検知高度の差分を算出し、それぞれに対して予め設定された閾値を超えている測定点STを変化点として指定し、変化点HTの有無によって判定する。【選択図】図1
ROAD SURFACE DETECTION DEVICE, MOBILE BODY, ROAD SURFACE DETECTION METHOD, AND ROAD SURFACE DETECTION PROGRAM
路面検知装置、移動体、路面検知方法、および路面検知プログラム
2017-01-19
Patent
Elektronische Ressource
Japanisch
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2023
|ROAD SURFACE DETECTION DEVICE AND ROAD SURFACE DETECTION PROGRAM
Europäisches Patentamt | 2021
|ROAD SURFACE DETECTION DEVICE AND ROAD SURFACE DETECTION PROGRAM
Europäisches Patentamt | 2020
|ROAD SURFACE DETECTION DEVICE AND ROAD SURFACE DETECTION PROGRAM
Europäisches Patentamt | 2020
|