Shielding detection device and computer readable medium

Patent metadata

Field	Value
Publication number	US-2022397393-A1
Application number	US-202017775582-A
Country	US
Kind code	A1
Filing date	Oct 15, 2020
Priority date	Dec 24, 2019
Publication date	Dec 15, 2022
Grant date	—

Abstract

A shielding detection unit ( 111 ) detects one or more shielded sections in which a road surface of a target road, on which a measuring vehicle has traveled, has not been measured, based on three-dimensional point group data indicating a three-dimensional coordinate value of each measurement spot that has been measured by a laser scanner mounted on the measuring vehicle. A result display unit ( 112 ) generates a target road map and displays the target road map, the target road map indicating the target road and indicating the one or more shielded sections in a manner to distinguish the one or more shielded sections from each unshielded section in which the road surface of the target road has been measured.

First claim

1 . A shielding detection device comprising:
processing circuitry to detect one or more shielded sections in which a road surface of a target road, on which a measuring vehicle has traveled, has not been measured, based on three-dimensional point group data indicating a three-dimensional coordinate value of each measurement spot that has been measured by a laser scanner mounted on the measuring vehicle; and to generate a target road map and to display the target road map, the target road map indicating the target road and indicating the one or more shielded sections in a manner to distinguish the one or more shielded sections from each unshielded section in which the road surface of the target road has been measured.

2 . The shielding detection device according to claim 1 , wherein
the processing circuitry detects one or more candidate sections in which the road surface of the target road has not been measured, based on the three-dimensional point group data, calculates a shielded amount of each of the candidate sections, and determines each candidate section corresponding to a shielded amount exceeding a threshold value, as a shielded section.

3 . The shielding detection device according to claim 2 , wherein
the shielded amount of each of the candidate sections is any one of a distance of each of the candidate sections, a time length taken for measuring each of the candidate sections, and a size of each of the candidate sections based on the distance of each of the candidate sections and the time length of each of the candidate sections.

4 . The shielding detection device according to claim 2 , wherein
the processing circuitry determines each candidate section corresponding to the shielded amount exceeding the threshold value as a shielded section, among remaining candidate sections excluding a candidate section, in which the road surface of the target road has not been measured on a right side of a traveling lane on which the measuring vehicle has traveled because a right lane does not exist with respect to the traveling lane, and a candidate section, in which the road surface of the target road has not been measured on a left side of the traveling lane because a left lane does not exist with respect to the traveling lane.

5 . The shielding detection device according to claim 1 , wherein
the processing circuitry categorizes each of the one or more shielded sections into any one of a right-side shielded section in which the road surface of the target road has not been measured on the right side of the traveling lane on which the measuring vehicle has traveled, a left-side shielded section in which the road surface of the target road has not been measured on the left side of the traveling lane, and a both-side shielded section in which the road surface of the target road has not been measured on both of a lane on the right side of the traveling lane and a lane on the left side of the traveling lane, and distinguishes the right-side shielded section, the left-side shielded section, and the both-side shielded section from each other on the target road map.

6 . The shielding detection device according to claim 1 , wherein
the processing circuitry distinguishes each shielded section from each unshielded section for every lane on the target road map.

7 . The shielding detection device according to claim 1 , wherein:
the processing circuitry detects one or more shielded sections with respect to each of a plurality of pieces of three-dimensional point group data that are obtained through a plurality of times of traveling on the target road by the measuring vehicle, and generates coupled point group data by combining pieces of three-dimensional point group data corresponding to sections that are not shielded sections among the plurality of pieces of three-dimensional point group data.

8 . The shielding detection device according to claim 1 , wherein
the processing circuitry detects an occurrence of shielding when any one of a length of a point group missing area, a size of the point group missing area, a change degree of point group density, and a change degree of the number of point groups per predetermined length in the three-dimensional point group data is equal to or greater than a corresponding threshold value.

9 . The shielding detection device according to claim 1 , wherein
the processing circuitry detects an occurrence of shielding when either one of a length of a point group missing area in a white line that is automatically formed based on the three-dimensional point group data and a size of the point group missing area in the white line is equal to or greater than a corresponding threshold value.

10 . The shielding detection device according to claim 1 , wherein
the processing circuitry determines that each corresponding three-dimensional point corresponds to a shielded state when a distance to an area corresponding to a road surface within an angle range on a position on which the measuring vehicle is to be present or on a traveling locus is shortened by a threshold value or greater, based on information indicating a relative distance and a relative angle, with respect to the measuring vehicle, to each measurement spot which corresponds to a corresponding three-dimensional point in the three-dimensional point group data.

11 . The shielding detection device according to claim 1 , wherein
the processing circuitry displays another lane in a manner to indicate whether the other lane is in a shielded state or the other lane is in a favorable state, in a state in which an own lane of the measuring vehicle is arranged on a center.

12 . The shielding detection device according to claim 1 , wherein
the processing circuitry displays another lane in a manner to indicate whether the other lane is in a shielded state or the other lane is in a favorable state, in a state in which an own lane of the measuring vehicle is arranged on a center, and displays a non-existing lane as a disabled lane or does not display the non-existing lane.

13 . A non-transitory computer readable medium storing a shielding detection program that causes a computer to execute:
a shielding detection process of detecting one or more shielded sections in which a road surface of a target road, on which a measuring vehicle has traveled, has not been measured, based on three-dimensional point group data indicating a three-dimensional coordinate value of each measurement spot that has been measured by a laser scanner mounted on the measuring vehicle; and a result display process of generating a target road map and displaying the target road map, the target road map indicating the target road and indicating the one or more shielded sections in a manner to distinguish the one or more shielded sections from each unshielded section in which the road surface of the target road has been measured.

Assignees

• Mitsubishi Electric Corp

Inventors

• Yoshida Mitsunobu

Classifications

• G01C21/3697

  Output of additional, non-guidance related information, e.g. low fuel level (G01C21/3679 takes precedence) · CPC title

• G01C21/3658

  Lane guidance · CPC title

• G01C21/3822 Primary

  Road feature data, e.g. slope data · CPC title

• G09B29/00

  Maps; Plans; Charts; Diagrams, e.g. route diagram (star maps G09B27/04; devices for holding or supporting maps A47B97/02; for computing purposes G06G1/14, G09B1/16; display boards G09F) · CPC title

• G08G1/00

  Traffic control systems for road vehicles (arrangement of road signs or traffic signals E01F9/00 {; automatic vehicle control B62D}) · CPC title