PROBLEM TO BE SOLVED: To provide a road shoulder detection method and road shoulder detection device capable of correctly detecting a road shoulder existing on a road surface even when pitching occurs.SOLUTION: A laser is radiated by scanning in a horizontal direction to a circumference of a road surface on which a vehicle V1 travels, and a step existing on the road surface is detected based on the reflection light. A road shoulder on the road surface is detected based on the detected step. When a deceleration of the vehicle V1 exceeds a predetermined first threshold and also two or more steps are detected on the road surface, it is determined that one of the steps is erroneously detected. Thus, even when a pseudo-step is detected by pitching, the road shoulder existing on the road surface is correctly detected without being affected by erroneous detection.SELECTED DRAWING: Figure 1

    【課題】ピッチングが発生した場合でも正しく路面上に存在する路肩を検出することが可能な路肩検出方法、及び路肩検出装置を提供する。【解決手段】車両V1が走行する路面の周囲に対して、レーザを水平方向に走査して照射し、その反射光に基づいて路面に存在する段差を検出する。検出した段差に基づいて、路面の路肩を検出し、車両V1の減速度が予め設定した第1閾値を上回り、且つ、路面に2以上の段差が検出されたときに、いずれか一方の段差は誤検出であると判定する。従って、ピッチングにより疑似段差が検出された場合でも、この影響を受けることなく路面上に存在する路肩を正しく検出することができる。【選択図】図1


    Access

    Download


    Export, share and cite



    Title :

    ROAD SHOULDER DETECTION METHOD AND ROAD SHOULDER DETECTION DEVICE


    Additional title:

    路肩検出方法及び路肩検出装置


    Contributors:

    Publication date :

    2018-02-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



    ROAD-SHOULDER DETECTING DEVICE AND VEHICLE USING ROAD-SHOULDER DETECTING DEVICE

    SHIMA TAKESHI / HIGUCHI MIRAI / MURAMATSU SHOJI et al. | European Patent Office | 2021

    Free access

    Road shoulder detection method and device and storage medium

    CHEN HAIBO / LIN JIN / DENG PENG | European Patent Office | 2020

    Free access

    Road-shoulder obstacle surmounting device

    QI HUAJUN | European Patent Office | 2016

    Free access

    ROAD SHOULDER DETECTION SYSTEM AND MINE TRANSPORT VEHICLE

    ONO YUKIHIKO / WATANABE ATSUSHI / ISHIMOTO HIDEFUMI et al. | European Patent Office | 2017

    Free access

    ROAD SHOULDER DETECTION SYSTEM AND MINING TRANSPORT VEHICLE

    ONO YUKIHIKO / WATANABE ATSUSHI / ISHIMOTO HIDEFUMI et al. | European Patent Office | 2017

    Free access