To improve an accuracy of determining an occupied state.SOLUTION: In a method for creating an occupation map, positions of a plurality of measurement points set around a vehicle are acquired as distance measurement data in a predetermined cycle (13); by using a plurality of distance measurement data (14) in a period from the present to a first hour ago, an occupation map (18) showing an occupied part and an unoccupied part of an obstacle on a road surface is generated; by using a plurality of distance measurement data (15) in a period from the present to a second hour, which is shorter than the first hour, an unoccupied map (20) showing the unoccupied part of the obstacle on the road surface is generated; and within the occupied parts shown in the occupied map, an area included in the unoccupied part shown in the unoccupied map is changed to the unoccupied part (22).SELECTED DRAWING: Figure 1

    【課題】占有状態の判定精度の向上を図る。【解決手段】占有マップの作成方法は、所定の周期で、車両の周囲に設定される複数の測定点の位置を測距データとして取得し(13)、現在から第1時間だけ前までの期間における複数の測距データ(14)を用いて、路面における障害物の占有部分及び非占有部分を示す占有マップ(18)を生成し、現在から第1時間よりも短い第2時間だけ前までの期間における複数の測距データ(15)を用いて、路面における障害物の非占有部分を示す非占有マップ(20)を生成し、占有マップに示される占有部分のうち、非占有マップに示される非占有部分に含まれる領域を、非占有部分に変更する(22)。【選択図】図1


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    Title :

    OCCUPATION MAP CREATION METHOD AND OCCUPATION MAP CREATION DEVICE


    Additional title:

    占有マップの作成方法、及び、占有マップの作成装置


    Contributors:

    Publication date :

    2021-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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