PROBLEM TO BE SOLVED: To provide a level difference detection method and a level difference detection device that can precisely detect a level difference on a road surface around a vehicle and an area the vehicle can travel.SOLUTION: A level difference detection device sets a level difference detection line L1 on a road surface around a vehicle V1, and measures the height of the level difference detection line according to two positional relations having different distance from a laser radar 12 to the level difference detection line L1 with the laser radar 12 mounted on the vehicle. It detects a reflection body H1 situated around the vehicle V1 on the basis of the height of the level difference detection line L1 measured by the two different positional relations. It detects a level difference on the road surface by excluding the height of the existence position of the reflection body H1 from the height of the level difference detection line L1.SELECTED DRAWING: Figure 1
【課題】車両の周囲の路面に存在する段差、走行可能領域を高精度に検出することが可能な段差検出方法及び段差検出装置を提供する。【解決手段】車両V1の周囲の路面に段差検出ラインL1を設定し、車両に搭載したレーザレーダ12により、該レーザレーダ12から段差検出ラインL1までの距離が異なる2つの位置関係で、それぞれ段差検出ラインの高さを測定する。異なる2つの位置関係で測定した段差検出ラインL1の高さに基づいて、車両V1の周囲に存在する反射体H1を検出する。段差検出ラインL1の高さから、反射体H1の存在位置の高さを除外して路面に存在する段差を検出する。【選択図】図1
LEVEL DIFFERENCE DETECTION METHOD AND LEVEL DIFFERENCE DETECTION DEVICE
段差検出方法及び段差検出装置
2018-02-08
Patent
Electronic Resource
Japanese
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