PROBLEM TO BE SOLVED: To provide a traveling determination device of a vehicle and a traveling determination program of a vehicle which can exactly determine the traveling possibility of a special vehicle or the like in a short time.SOLUTION: A traveling trajectory creation part 10 creates a three-dimensional traveling trajectory of a vehicle when assuming that a road has a horizontal face on the road which is designated as an object for performing traveling determination, and a three-dimensional point group data acquisition part 12 acquires three-dimensional point group data which are collected about objects on a road face of the designated road and in a circumferential space. A traveling trajectory correction part 14 calculates a gradient and undulation of the road face on the basis of point group data of the road face of the designated road, and corrects an altitude and an inclination of the three-dimensional traveling trajectory. A superimposing part 16 superimposes the corrected three-dimensional traveling trajectory and the three-dimensional point group data of the objects in the circumferential space of the road, and a collision information impartment part 18 imparts collision information to an attribute of a point included in the corrected three-dimensional traveling trajectory out of points of the three-dimensional point group of the objects in the circumferential space of the road.SELECTED DRAWING: Figure 1
【課題】特殊車両等の走行可能性の判定を短時間で正確に行うことができる車両の走行判定装置及び車両の走行判定プログラムを提供する。【解決手段】走行軌跡生成部10は、走行判定を行う対象として指定された道路において、当該道路が水平面であると仮定した際の車両の3次元走行軌跡を生成し、3次元点群データ取得部12は、上記指定された道路の路面及び周囲空間の物体について収集されている3次元点群データを取得する。走行軌跡補正部14は、指定された道路の路面の点群データに基づき、路面の勾配、起伏を算出して上記3次元走行軌跡の高さ及び傾きを補正する。重畳部16は、上記補正後の3次元走行軌跡と、道路の周囲空間の物体の3次元点群データとを重畳し、衝突情報付与部18は、上記道路の周囲空間の物体の3次元点群データの点の内、補正後の3次元走行軌跡に包含される点の属性に衝突情報を付与する。【選択図】図1
TRAVELING DETERMINATION DEVICE OF VEHICLE AND TRAVELING DETERMINATION PROGRAM OF VEHICLE
車両の走行判定装置及び車両の走行判定プログラム
2017-09-21
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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