| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a monitoring device capable of detecting accurately a road surface state regardless of a vehicle attitude, and a suspension control device utilizing the monitered result. Ž<P>SOLUTION: Detected position information (XL, YL, ZL) for displaying a reflection spot of laser light by means of a sensor coordinate is generated from a measurement result acquired by scanning the road surface with the laser light, and a moving distance D of the vehicle and road surface tilt angles θx, θy are calculated from detection results by various sensors (S110-S140). Moving vectors (ΔX, ΔY, ΔZ) showing the moving distance and a moving direction of the vehicle are determined from the calculation results, and the detected position information is converted into relative position vectors (XP, YP, ZP) showing a relative position relation from the origin of a vehicle reference coordinate, and the moving vectors and the relative position vectors are added to a position (Xr, Yr, Zr) determined by displaying in an absolute coordinate system, the origin in a vehicle reference coordinate system at the preceding monitoring timing, to thereby calculate reflection spot information (X, Y, Z) determined by showing the position of the reflection spot of the laser light in the absolute coordinate system (S150-S170). Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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