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
ROAD SHOULDER DETECTION METHOD AND ROAD SHOULDER DETECTION DEVICE
路肩検出方法及び路肩検出装置
2018-02-08
Patent
Electronic Resource
Japanese
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