PROBLEM TO BE SOLVED: To increase the accuracy of detecting the boundary of a road.SOLUTION: A road boundary detector 1 includes: a distance measuring unit 11, which detects the height of the surface of a road around a vehicle; a step detection circuit 18, which detects a step LD based on the height of the road surface; a slope boundary detection circuit 19, which detects the boundary between a slope and a roadway based on the inclination of the road surface in the width direction of a vehicle if no steps has been detected in a road boundary detection region of the road surface in the width direction of a vehicle; and a road boundary detection circuit 20, which estimates the boundary between the slope and the roadway or the step to be a road boundary.SELECTED DRAWING: Figure 1
【課題】道路境界の検出精度を向上させる。【解決手段】道路境界検出装置1は、車両の周囲における路面の高さを検出する測距部11と、路面の高さに基づいて段差LDを検出する段差検出回路18と、路面の車幅方向の道路境界検出領域において段差が検出されなかった場合、路面の車幅方向の勾配に基づいてスロープと車道との境界を検出するスロープ境界検出回路19と、スロープと車道との境界或いは段差を道路境界と推定する道路境界検出回路20と、を有することを特徴とする。【選択図】図1
ROAD BOUNDARY DETECTOR, SELF-POSITION ESTIMATION DEVICE, AND ROAD BOUNDARY DETECTING METHOD
道路境界検出装置、自己位置推定装置及び道路境界検出方法
2017-02-09
Patent
Electronic Resource
Japanese
ROAD-VEHICLE COMMUNICATION AREA BOUNDARY ESTIMATION DEVICE AND AREA BOUNDARY ESTIMATION METHOD
European Patent Office | 2018
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