To obtain a road surface area detection device that can determine the road surface shape with higher accuracy.SOLUTION: A road surface area detection device of the present disclosure includes: a data acquisition unit 201 that stores each ranging point sequence measured in the circumferential direction for each depression angle of a sensor 1 that measures a distance to a target object by measuring a reflected signal reflected by a plurality of irradiation signals with different depression angles upon the target object; an adjacent point identification unit 202 that extracts points of interest in one of ranging point sequences and a set of adjacent points located on the large depression angle side and the small depression angle side with respect to the depression angle of one ranging point sequence; an angle calculation unit 203 that calculates an angle formed by the set of adjacent points with respect to the points of interest as the difference angle; a shape calculation unit 204 that calculates a road surface shape based on the classification that classifies the points of interest into one of a road surface point, a candidate point of the road surface point, and a ranging point that does not constitute the road surface based on a shape determination result using the points of interest and the set of adjacent points.SELECTED DRAWING: Figure 1
【課題】路面形状をより精度良く判定できる路面領域検出装置を得る。【解決手段】本開示の路面領域検出装置は、俯角が互いに異なる複数の照射信号が対象物体で反射した反射信号の測定により対象物体までの距離を測距するセンサ1から俯角ごとに周方向に測定された各測距点列を蓄積するデータ取得部201と、各測距点列のうち一の測距点列の中の注目点と、一の測距点列の俯角に対して大きい俯角側および小さい俯角側に位置する一組の隣接点を抽出する隣接点特定部202と、注目点に対して一組の隣接点がなす角度を差分角として算出する角度算出部203と、注目点と一組の隣接点を用いた形状判定結果に基づき、注目点を、路面点、路面点の候補点および路面を構成しない測距点のいずれかに分類して、分類に基づき路面形状を算出する形状算出部204と、を備える。【選択図】図1
ROAD SURFACE AREA DETECTION DEVICE, ROAD SURFACE AREA DETECTION SYSTEM, VEHICLE AND ROAD SURFACE AREA DETECTION METHOD
路面領域検出装置、路面領域検出システム、車両および路面領域検出方法
09.12.2021
Patent
Elektronische Ressource
Japanisch
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