To detect the distance and inclination of a vehicle relative to a curbstone accurately at high speed.SOLUTION: Provided is a positional relationship detection device 120 comprising: a data acquisition unit 121 for acquiring measured data from a measuring device 110 that measures the state of road structures such as a curbstone 210 and a road surface 220; a road surface extraction unit 125 for extracting road surface data on the basis of the measured data; an inclination derivation unit 128 for deriving the first angle of inclination of the measuring device relative to the horizontal plane on the basis of the road surface data; a curbstone extraction unit 122 for extracting measured data included within a curbstone inclination range relative to the vertical plane as upright data, and extracting curbstone data that indicates the curbstone 210 on the basis of post-correction data derived by correcting the upright data using the first angle of inclination; and a positional relationship calculation unit 123 for calculating the distance from the curbstone 210 to the vehicle 200 on the basis of the curbstone data.SELECTED DRAWING: Figure 3
【課題】縁石に対する車両の距離と傾きとを高速、正確に検出する。【解決手段】縁石210、路面220等の道路構造物の状態を計測する計測装置110から計測データを取得するデータ取得部121と、計測データに基づき路面データを抽出する路面抽出部125と、路面データに基づき、水平面に対する計測装置の第一傾斜度を導出する傾斜導出部128と、鉛直面に対し縁石傾斜範囲内に含まれる計測データを起立データとして抽出し、第一傾斜度を用いて起立データを補正した補正後データに基づき縁石210を示す縁石データを抽出する縁石抽出部122と、縁石データに基づき縁石210から車両200までの距離を算出する位置関係算出部123と、を備える位置関係検出装置120。【選択図】図3
POSITIONAL RELATIONSHIP DETECTION DEVICE AND POSITIONAL RELATIONSHIP DETECTION METHOD
位置関係検出装置、および位置関係検出方法
2021-07-15
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01S RADIO DIRECTION-FINDING , Funkpeilung |