| 摘要 |
A step detection device is provided with a distance measurement unit for detecting the height of the road surface around a vehicle. The step detection device approximates, on the basis of the height of the road surface, the incline of the road surface in the vehicle width direction in a travelable region using a curve, and detects a step on the road surface on the basis of the degree of match between the height of measurement points relative to the curve and the degree of match between the height of measurement points relative to a curve approximating the incline of the road surface in an extended region in which the travelable region is extended in the vehicle width direction. |
