TRAVELLING TRAJECTORY CREATION METHOD AND TRAVELLING TRAJECTORY CREATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a travelling trajectory creation method and travelling trajectory creation method that can create a travelling trajectory of a travelling body faithful to actual travelling as much as possible.SOLUTION: A method is configured to: cause a travelling body having a laser Doppler velocimeter (LDV) attached to either side in a width direction of the travelling body to travel on a road surface; continue to irradiate the road surface vertically or almost vertically with a laser beam from the LDV; receive scattered light from the road surface during the irradiation; extract a Doppler signal in proportion to a travelling velocity of the travelling body; obtain the travelling velocity of the travelling body every preliminarily set unit time on the basis of the Doppler signal; obtain a meander radius of the travelling body from the travelling velocity and a travelling distance thereof as a trajectory for every unit time; repeatedly obtain the trajectory of the travelling body during travelling for every unit time; and continuously connect the trajectories to thereby create a travelling trajectory of the travelling body.SELECTED DRAWING: Figure 1