PROBLEM TO BE SOLVED: To provide a level-difference detection apparatus and a level-difference detection method, which enable detection of the position of a level-difference on a road surface accurately.SOLUTION: Using a distance measurement sensor 12, a first level-difference determination position L1 is set, and height data along the first level-difference determination position L1 is obtained. Further, in a case where the obtained height data contains a given amount or more of a measurement-impossible zone where a height of a road surface cannot be measured, a second level-difference determination position L2 different from the first level-difference determination position L1 is set. Further, based on a distance to the road surface and azimuth detected by the distance measurement sensor 12, a level-difference form estimation circuit 16 calculates a height change of the road at the second level-difference determination position L2. A level-difference detection circuit 17 detects a level-difference on the road surface on the basis of the calculated height change.SELECTED DRAWING: Figure 1
【課題】路面上の段差の位置を精度良く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】測距センサ12より、第1段差判定位置L1を設定してこの第1段差判定位置L1に沿った高さデータを取得する。また、取得した高さデータ中に、路面の高さを測定できない測定不能領域が所定量以上である場合には、第1段差判定位置L1とは異なる第2段差判定位置を設定する。そして、段差形状推定回路16は、測距センサ12により検出された路面までの距離及び方位に基づいて、第2段差判定位置L2における路面の高さ変化を算出する。段差検出回路17は、算出した高さ変化に基づいて路面上の段差を検出する。【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: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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