A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
ROAD SURFACE ABNORMALITY DETECTION DEVICE
To provide a road surface abnormality detection device which can detect an abnormality of a road surface shape by using required minimum sensors.SOLUTION: A road surface abnormality detection device 1 comprises: a 3D laser sensor 3 which detects a structure 7 existing around an own vehicle 2; a map information storage unit 4 which stores 3D map information including road surface state data of a road R; a self-position estimation unit 11 which matches point group data of the 3D laser sensor 3 to the 3D map information to estimate a self-position of the own vehicle 2; a road surface shape extraction unit 12 which extracts a height shape of a travel road surface area Sr including a position of the own vehicle 2 on the basis of the point group data of the 3D laser sensor 3; and a road surface abnormality determination unit 13 which compares height shape data of the travel road surface area Sr with road surface state data of the travel road surface area Sr in the 3D map information to determine an abnormality of a road surface shape of the travel road surface area Sr.SELECTED DRAWING: Figure 1
【課題】必要最小限のセンサを用いて、路面形状の異常を検知することができる路面異常検知装置を提供する。【解決手段】路面異常検知装置１は、自車両２の周囲に存在する構造物７を検出する３Ｄレーザセンサ３と、道路Ｒの路面状態データを含む３Ｄ地図情報を記憶する地図情報記憶部４と、３Ｄレーザセンサ３の点群データと３Ｄ地図情報とをマッチングさせて、自車両２の自己位置を推定する自己位置推定部１１と、３Ｄレーザセンサ３の点群データに基づいて、自車両２の位置を含む走行路面領域Ｓｒの高さ形状を抽出する路面形状抽出部１２と、走行路面領域Ｓｒの高さ形状データと３Ｄ地図情報における走行路面領域Ｓｒの路面状態データとを比較して、走行路面領域Ｓｒの路面形状の異常を判定する路面異常判定部１３とを備える。【選択図】図１
ROAD SURFACE ABNORMALITY DETECTION DEVICE
To provide a road surface abnormality detection device which can detect an abnormality of a road surface shape by using required minimum sensors.SOLUTION: A road surface abnormality detection device 1 comprises: a 3D laser sensor 3 which detects a structure 7 existing around an own vehicle 2; a map information storage unit 4 which stores 3D map information including road surface state data of a road R; a self-position estimation unit 11 which matches point group data of the 3D laser sensor 3 to the 3D map information to estimate a self-position of the own vehicle 2; a road surface shape extraction unit 12 which extracts a height shape of a travel road surface area Sr including a position of the own vehicle 2 on the basis of the point group data of the 3D laser sensor 3; and a road surface abnormality determination unit 13 which compares height shape data of the travel road surface area Sr with road surface state data of the travel road surface area Sr in the 3D map information to determine an abnormality of a road surface shape of the travel road surface area Sr.SELECTED DRAWING: Figure 1
【課題】必要最小限のセンサを用いて、路面形状の異常を検知することができる路面異常検知装置を提供する。【解決手段】路面異常検知装置１は、自車両２の周囲に存在する構造物７を検出する３Ｄレーザセンサ３と、道路Ｒの路面状態データを含む３Ｄ地図情報を記憶する地図情報記憶部４と、３Ｄレーザセンサ３の点群データと３Ｄ地図情報とをマッチングさせて、自車両２の自己位置を推定する自己位置推定部１１と、３Ｄレーザセンサ３の点群データに基づいて、自車両２の位置を含む走行路面領域Ｓｒの高さ形状を抽出する路面形状抽出部１２と、走行路面領域Ｓｒの高さ形状データと３Ｄ地図情報における走行路面領域Ｓｒの路面状態データとを比較して、走行路面領域Ｓｒの路面形状の異常を判定する路面異常判定部１３とを備える。【選択図】図１
ROAD SURFACE ABNORMALITY DETECTION DEVICE
路面異常検知装置
NAKAMURA HIROSHI (author) / KOBAYASHI KOZUE (author) / LIAO YIJUN (author) / KATO TOMOYA (author)
2024-08-22
Patent
Electronic Resource
Japanese
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