To provide a travel-through propriety determination device etc., capable of whether a road surface environment around a moving body is good sufficient to travel through.SOLUTION: A controller is configured to: acquire dot group data based upon a road surface image from a stereo camera; use a maximum inclination angle θmax and a maximum height hmax to determine a length d of one side of a cell 40 so that d=hmax/tanθmax holds; acquire, based upon the dot group data, an expression of an estimated plane 42 for each cell 40 by a predetermined plane estimation method; and then determine, based upon the estimated plane 42, whether a rod surface environment is good sufficient to travel through for each cell 40.SELECTED DRAWING: Figure 6

    【課題】移動体の周辺の路面環境が走破可能であるか否かを適切に判定することができる走破可否判定装置などを提供する。【解決手段】コントローラは、ステレオカメラからの路面画像に基づき、点群データを取得し、セル40の一辺の長さdを、最大傾斜角度θmax及び最大高さhmaxを用いて、d=hmax/tanθmaxが成立するように決定し、点群データに基づき、所定の平面推定方法により、推定平面42の式をセル40毎に取得し、推定平面42に基づき、路面環境が走破可能であるか否かをセル40毎に判定する。【選択図】図6


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    Title :

    TRAVEL-THROUGH PROPRIETY DETERMINATION DEVICE AND CONTROL DEVICE FOR MOVING BODY


    Additional title:

    走破可否判定装置及び移動体の制御装置


    Contributors:

    Publication date :

    2021-05-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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