A control unit (7) of a lidar (100) functionally has an acquisition means, an obstacle detection means, a ground detection means, a curb determination means, and a travelable region determination means. The acquisition unit acquires point cloud data. The obstacle detection unit detects an obstacle point from the point cloud data, the obstacle point being data representing a measured point of an obstacle. The ground detection unit detects a ground point, which is data representing a measured point on the ground, from the point cloud data. The curb determination means determines a ground point corresponding to the curb as an obstacle point on the basis of a drivable region of the vehicle determined at a processing time immediately before the current processing time. The travelable region determination means determines a travelable region at the current processing time on the basis of the obstacle point and the ground point.
激光雷达(100)的控制部(7)在功能上具有取得单元、障碍物检测单元、地面检测单元、路缘石判定单元以及可行驶区域决定单元。取得单元取得点云数据。障碍物检测单元根据点云数据检测障碍物点,所述障碍物点是表示障碍物的被测量点的数据。地面检测单元根据点云数据检测地面点,所述地面点是表示地面的被测量点的数据。路缘石判定单元基于在当前处理时刻紧前的处理时刻判定出的车辆的可行驶区域,将与路缘石对应的地面点判定为障碍物点。可行驶区域决定单元基于障碍物点和地面点,决定当前处理时刻的可行驶区域。
Information processing device, control method, program, and storage medium
信息处理装置、控制方法、程序以及存储介质
2024-09-24
Patent
Electronic Resource
Chinese
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