To provide a travel determination device for a vehicle capable of efficiently and highly accurately implementing a travel determination of the vehicle including the presence/absence of obstacle removal and the quantity thereof, a travel determination method, and a program.SOLUTION: The present invention relates to a travel determination device 10 for a vehicle which determines a possibility of travel of the vehicle with respect to a target road on which the vehicle is scheduled to travel. The travel determination device comprises: a first acquisition section 102 for acquiring three-dimensional point group data relating to a road surface of the target road and surrounding objects; a second acquisition section 104 for acquiring two-dimensional plane point group data extracted by removing a height component from the three-dimensional point group data; a superpose section 106 for superposing two-dimensional travel trajectory data relating to a travel trajectory of three-dimensional vehicle data relating to the vehicle with respect to the two-dimensional plane point group data; a trial travel section 108 for causing the three-dimensional vehicle data to travel along the travel trajectory in a three-dimensional VR space created based on the three-dimensional point group data; and a determination and identification section 110 for determining the presence/absence of interference between the three-dimensional VR space and the three-dimensional vehicle data and identifying three-dimensional information of an interference region in a case where it is determined that they interfere.SELECTED DRAWING: Figure 2
【課題】障害物撤去の有無やその数量を含む車両の走行判定を効率的かつ高精度に実現できる、車両の走行判定装置と走行判定方法、及びプログラムを提供する。【解決手段】車両が走行予定の対象道路に対して車両の走行可能性を判定する、車両の走行判定装置10であり、対象道路の路面と周囲物体に関する三次元点群データを取得する第一取得部102、三次元点群データから高さ成分を除いて抽出された二次元平面点群データを取得する第二取得部104、二次元平面点群データに対して車両に関する三次元車両データの走行軌跡に関する二次元走行軌跡データを重ね合わせる重畳部106、三次元点群データに基づいて作成した三次元VR空間の走行軌跡に沿って三次元車両データを走行させる試走行部108、三次元VR空間と三次元車両データの干渉の有無を判定し、干渉すると判定された際に干渉領域の三次元情報を特定する判定特定部110を有する。【選択図】図2
TRAVEL DETERMINATION DEVICE FOR VEHICLE, TRAVEL DETERMINATION METHOD, AND PROGRAM
車両の走行判定装置と走行判定方法、及びプログラム
2023-09-22
Patent
Electronic Resource
Japanese
VEHICLE TRAVEL DETERMINATION METHOD AND VEHICLE TRAVEL DETERMINATION DEVICE
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