To provide a travel road recognition device which can accurately recognize an end of a travel road on which an own vehicle is travelling.SOLUTION: The travel road recognition device according to the present invention recognizes an end of a travel path on which an own vehicle 301 is travelling. The device includes: a laser radar 101 for emitting a laser toward the travel road from the own vehicle 301; a road surface determination unit 203 for determining a traverse inclination of the travel road on the basis of the coordinate value of the point group obtained from the laser radar 101; and a road end determination unit 204 for determining a change point in the traverse inclination of the travel load determined by the road surface determination unit 203 where the angle of inclination changes, and determining the coordinate value of the end of the travel path at least one of both sides in the traverse direction of the travel road on the basis of the coordinate value of the change point.SELECTED DRAWING: Figure 2
【課題】自車両が走行する走行路の走行路端を的確に認識することができる走行路認識装置を得ること。【解決手段】本発明の走行路認識装置は、自車両301が走行する走行路の走行路端を認識する走行路認識装置であって、自車両301から走行路に向かってレーザを照射するレーザレーダ101と、レーザレーダ101により得られる点群の座標値に基づいて、走行路の横断勾配を求める路面判定部203と、路面判定部203により求めた走行路の横断勾配において勾配角度が変化する変化点を求め、変化点の座標値に基づいて走行路の横断方向両側のうちの少なくとも一方の走行路端の座標値を求める道路端判定部204とを有する。【選択図】図2
TRAVEL ROAD RECOGNITION DEVICE
走行路認識装置
2020-08-31
Patent
Electronic Resource
Japanese
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