| 摘要 |
PROBLEM TO BE SOLVED: To quickly determine lowering of distance measurement ability by a laser radar and an image. SOLUTION: A distance data diagnosis section 5e determines distance measurement ability for a three-dimensional body, as an object to be determined, with a width of 50 cm or larger in front by a distance of 40 to 70 m in a survey area where a field of vision of the laser radar and that of the image overlap when a vehicle runs on an approximately straight road. Presence of image (laser) distance data is determined for the three-dimensional body and if the data are not present, it is counted as the number of three-dimensional bodies without the image (laser radar). A non- detection rate of the three-dimensional bodies of the image (laser radar) is calculated from the total number of the three-dimensional bodies as the object to be determined and the number of the three-dimensional bodies without the image (laser radar). If the non-detection rate is at or larger than a detection rate threshold, an ability determination timer of the image (laser radar) is turned to be larger. If the non-detection rate is below the detection rate threshold, the respective timer is turned to be smaller. When values of the respective timers exceed an output threshold, it is determined that the distance measurement ability by the image (laser radar) is low and when they are below a release threshold value, determination that the ability is low is released.
|
