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|1. (WO2017022079) STEP DETECTION DEVICE AND STEP DETECTION METHOD|
|Applicants:||NISSAN MOTOR CO., LTD.
|Title:||STEP DETECTION DEVICE AND STEP DETECTION METHOD|
A step detection device detects, using a distance sensor 12 mounted on a vehicle Vc, the distance and direction to the road surface in the surroundings of the vehicle, and sets, on the road surface, a first step determination position Pa1 and a second step determination position Pa2. The step detection device then calculates, on the basis of the distance and direction to the road surface, the change in height of the road surface at the first step determination position Pa1 and the second step determination position Pa2, and detects a step LD on the road surface on the basis of the step determination position at which the change in height of the road surface has a large gradient.