PROBLEM TO BE SOLVED: To provide a level-difference detection apparatus and a level-difference detection method, which enable detection of a level-difference of a road surface accurately even in the case of the road surface being inclined.SOLUTION: A detection apparatus includes: a distance measurement sensor 12 for detecting a distance to a road surface and azimuth; a first level-difference determination position setup circuit 15 for setting, on the road surface, a first level-difference determination position that is apart from the distance measurement sensor 12 by a given distance in a given direction and is extended to a direction orthogonal to the given direction; a height change detection circuit 18 for detecting a height change of the road surface at the first level-difference determination position; a second level-difference determination position setup circuit 16 for setting, as a second level-difference determination position, a given range from a position where a height change of a surface at the first level-difference determination position is equal to or more than a given value, the height change detected by the height change detection circuit 18; and a level-difference position detection circuit 17 for calculating an inclination of the road surface within a range of the second level-difference determination position and detecting a level-difference position on the basis of the height change using the inclination direction as reference.SELECTED DRAWING: Figure 1
【課題】路面に勾配が存在する場合でも高精度に路面の段差を検出することが可能な段差検出装置、及び段差検出方法を提供する。【解決手段】路面までの距離及び方位を検出する測距センサ12と、測距センサ12から所定方向に所定距離だけ離れ、所定方向に直交する方向に延びる第1段差判定位置を路面に設定する第1段差判定位置設定回路15を有する。また、第1段差判定位置での路面の高さ変化を検出する高さ変化検出回路18と、高さ変化検出回路18で検出された前記第1段差判定位置での面の高さ変化が所定値以上あった位置から所定範囲を第2段差判定位置として設定する第2段差判定位置設定回路16を有する。更に、第2段差判定位置の範囲での路面の傾斜を算出し、この傾斜方向を基準とした高さ変化に基づいて、段差位置を検出する段差位置検出回路17を備える。【選択図】図1
LEVEL-DIFFERENCE DETECTION APPARATUS AND LEVEL-DIFFERENCE DETECTION METHOD
段差検出装置及び段差検出方法
2017-02-16
Patent
Elektronische Ressource
Japanisch
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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