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1. (WO2017022079) STEP DETECTION DEVICE AND STEP DETECTION METHOD

Pub. No.:    WO/2017/022079    International Application No.:    PCT/JP2015/072084
Publication Date: Fri Feb 10 00:59:59 CET 2017 International Filing Date: Wed Aug 05 01:59:59 CEST 2015
IPC: G08G 1/16
Applicants: NISSAN MOTOR CO., LTD.
日産自動車株式会社
Inventors: NANRI, Takuya
南里 卓也
KHIAT, Abdelaziz
キアット アブデラジズ
UEDA, Hirotoshi
植田 宏寿
FANG, Fang
方 芳
Title: STEP DETECTION DEVICE AND STEP DETECTION METHOD
Abstract:
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.