To provide a road environment detection method capable of detecting a change in a situation of a free space at an early stage in a scene that an obstacle exists in a direction of travel of a vehicle and the vehicle avoids the obstacle and enters the free space at a deeper side in the direction of travel than the obstacle, and a road environment detection device.SOLUTION: In a case where a plurality of infrastructure sensors installed on a road of a travel route of a vehicle is present in a predetermined range in a direction of travel of the vehicle, a detection period of detection processing for detecting an environmental situation on the road of the travel route is set for each infrastructure sensor, and the infrastructure sensor is caused to execute the detection processing in accordance with the detection period. In a case where an obstacle disturbing travel of the vehicle is present in the direction of travel on an own lane where the vehicle travels, the detection period of the infrastructure sensor that detects a free space at a deeper side in the direction of travel than the obstacle is changed to be shorter than the detection period of the infrastructure sensor that detects the obstacle, and the infrastructure sensor is caused to execute the detection processing in accordance with the changed detection period.SELECTED DRAWING: Figure 1
【課題】車両の進行方向に障害物が存在し、車両が障害物を回避して障害物より進行方向奥側の空きスペースに入り込む場面で、空きスペースの状況の変化を早期に検出できる道路環境検出方法及び道路環境検出装置を提供することである。【解決手段】車両の進行方向の所定範囲内に、車両の走行経路の路上に設置されているインフラセンサが複数存在する場合に、インフラセンサごとに、走行経路の路上の環境状況を検出する検出処理の検出周期を設定し、検出周期に応じてインフラセンサに検出処理を実行させ、車両が走行している自車線において進行方向に車両の走行を妨げる障害物が存在する場合には、障害物を検出したインフラセンサの検出周期よりも、障害物よりも進行方向奥側の空きスペースを検出したインフラセンサの検出周期が短くなるように変更し、変更後の検出周期に応じて、インフラセンサに検出処理を実行させる。【選択図】 図1
ROAD ENVIRONMENT DETECTION METHOD AND ROAD ENVIRONMENT DETECTION DEVICE
道路環境検出方法及び道路環境検出装置
2024-07-01
Patent
Electronic Resource
Japanese
ROAD ENVIRONMENT TRANSMISSION METHOD AND ROAD ENVIRONMENT TRANSMISSION DEVICE
European Patent Office | 2024
|