To provide a technique capable of determining a runway boundary on a road without a road mark such as a white line.SOLUTION: A runway boundary determination apparatus 10 comprises: an acquisition part that acquires a plurality of measurement information indicating a distance and a direction of an object, including a road face in a travel direction of the vehicle, from a vehicle, obtained by scanning the object with a laser beam in a direction crossing the travel direction with an optical range finder 12 provided to the vehicle; a derivation part that derives a line segment indicating a cross grade of the road face on the basis of the plurality of measurement information acquired by the acquisition part; and a determination part for determining a boundary line of a runway on which the vehicle can travel on the basis of the liner segment indicating the cross grade derived by the derivation part.SELECTED DRAWING: Figure 1
【課題】白線などの路面標識がない道路で走路境界を決定できる技術を提供する。【解決手段】走路境界決定装置10は、車両に設けられた光測距装置12が車両の進行方向の路面を含む対象物を車両の進行方向に交差する方向にレーザ光を走査して得られた、対象物の車両からの距離および方向を示す複数の測定情報を取得する取得部と、取得部により取得された複数の測定情報にもとづいて路面の横断勾配を示す線分を導出する導出部と、導出部により導出された横断勾配を示す線分をもとに車両が走行可能な走路の境界ラインを決定する決定部と、を備える。【選択図】図1
RUNWAY BOUNDARY DETERMINATION APPARATUS AND RUNWAY BOUNDARY DETERMINATION METHOD
走路境界決定装置および走路境界決定方法
2021-09-27
Patent
Electronic Resource
Japanese
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