To provide a roadside edge detection method and a roadside edge detection device for improving a roadside edge detection accuracy.SOLUTION: A roadside edge detection method of a driving support system 100 is a roadside edge detection method for detecting a roadside edge provided with a roadside object on a road surface on which a vehicle travels, which is comprised of: a road surface height detection step that detects a height of the road surface in a predetermined range around the vehicle; a total calculation step of calculating a total height of the road surfaces in a predetermined range detected in the road surface height detection step along the traveling direction of the vehicle according to a position in a vehicle width direction with respect to the vehicle; and a roadside edge determination step for detecting a position in a vehicle width direction in which the total sum calculated in the total sum calculation step exceeds a threshold value, and for determining that the roadside edge is located at the detection position in the vehicle width direction where the total sum exceeds the threshold value.SELECTED DRAWING: Figure 1
【課題】路側端の検出精度の向上を図る路側端検出方法及び路側端検出装置を提供する。【解決手段】運転支援システム100の路側端検出方法は、車両が走行する路面において、路側物が設けられた路側端を検出する路側端検出方法であって、車両の周囲の所定範囲において、路面の高さを検出する路面高検出ステップと、路面高検出ステップにおいて検出された所定範囲における路面の高さを、車両を基準とする車幅方向の位置に応じて、車両の走行方向に沿って総和を算出する総和算出ステップと、総和算出ステップにおいて算出された総和が閾値を上回る車幅方向の位置を検出し、総和が閾値を上回ると検出された車幅方向の検出位置に、路側端があると判定する、路側端判定ステップと、を備える。【選択図】図1
ROADSIDE EDGE DETECTION METHOD AND ROADSIDE EDGE DETECTION DEVICE
路側端検出方法、及び、路側端検出装置
2021-04-15
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
European Patent Office | 2021
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