Wall shape measurement device
A wall shape measurement device includes a wall distance acquisition part, a wall shape calculation part, a sudden change determination part, and an extrapolation part. The wall distance acquisition part repeatedly determines whether a wall-like object installed along the road is detected, and acquires, in response to the wall-like object being detected, a wall distance value indicating the distance to the wall-like object. The wall shape calculation part calculates a plurality of wall shape values using the traveling track of the vehicle and a plurality of past wall distance values. The sudden change determination part determines whether the wall distance value is suddenly changed, based on a preset sudden change determination condition. In response to the wall distance value being suddenly changed, the extrapolation part extrapolates wall shape values after it is determined that the wall distance value is suddenly changed.
1. A wall shape measurement device configured to be mounted to a vehicle, the wall shape measurement device comprising:
a wall distance acquisition part configured to repeatedly determine whether a wall-like object installed along a road on which the vehicle is traveling is detected, using a reception signal obtained by receiving radar waves transmitted and reflected in a preset detection region around the vehicle, and to acquire, in response to the wall-like object being detected, a wall distance value indicating the distance to the wall-like object using the reception signal;
a wall shape calculation part configured to calculate a plurality of wall shape values indicating the positions of a plurality of locations on the surface of the wall-like object, using the traveling track of the vehicle and a plurality of the past wall distance values repeatedly acquired by the wall distance acquisition part;
a sudden change determination part configured to determine whether the wall distance value acquired by the wall distance acquisition part is suddenly changed, based on a preset sudden change determination condition; and
an extrapolation part configured to, when the sudden change determination part determines that the wall distance value is suddenly changed, extrapolate the wall shape values after the sudden change determination part determines that the wall distance value is suddenly changed, wherein
the wall shape calculation part calculates a wall distance filter value obtained by performing filter processing on the wall distance value acquired by the wall distance acquisition part, and further calculates a plurality of the wall shape values using the traveling track and a plurality of the wall distance filter values, and
when the number of extrapolations, which is the number of times of continuously extrapolating the wall shape value by the extrapolation part, is less than a preset holding determination value, the extrapolation part holds the current wall distance filter value in the previous wall distance filter value to thereby extrapolate the wall shape value.
2. The wall shape measurement device according to claim 1 , wherein
when the number of extrapolations is less than a maximum determination value that is set to be more than the holding determination value, the extrapolation part brings the wall distance filter value closer to a preset maximum value to thereby extrapolate the wall shape value.
3. The wall shape measurement device according to claim 2 , wherein
when the number of extrapolations is equal to or more than the maximum determination value, the extrapolation part sets the wall distance filter value as an invalid value that is set to be more than the maximum value to thereby extrapolate the wall shape value.
4. The wall shape measurement device according to claim 1 , wherein
the wall shape calculation part calculates a wall distance filter value obtained by performing filter processing on the wall distance value acquired by the wall distance acquisition part, and further calculates a plurality of the wall shape values using the traveling track and a plurality of the wall distance filter values; and
the sudden change determination condition when the extrapolation part does not perform extrapolation is such that a difference between the current wall distance value and the previous wall distance filter value is equal to or more than a preset sudden change determination value.
5. The wall shape measurement device according to claim 1 , wherein
the wall shape calculation part calculates a wall distance filter value obtained by performing filter processing on the wall distance value acquired by the wall distance acquisition part, and further calculates a plurality of the wall shape values using the traveling track and a plurality of the wall distance filter values; and
the sudden change determination condition when the extrapolation part performs extrapolation is such that a difference between the current wall distance value and the wall distance filter value immediately before extrapolation is executed by the extrapolation part is equal to or more than a preset sudden change determination value.
6. The wall shape measurement device according to claim 1 , further comprising:
a wall detection determination part configured to determine whether the wall-like object is detected; and
a period interpolation part configured to, when the wall detection determination part determines that the wall-like object is detected, and when an extrapolation period in which extrapolation is executed by the extrapolation part is less than a preset interpolation determination time, interpolate a plurality of the wall shape values in the extrapolation period.
7. The wall shape measurement device according to claim 1 , further comprising:
a wall detection determination part configured to determine whether the wall-like object is detected; and
a distance interpolation part configured to, when the wall detection determination part determines that the wall-like object is detected, and when the traveling distance of the vehicle in an extrapolation period in which extrapolation is executed by the extrapolation part is less than a preset interpolation determination distance, interpolate a plurality of the wall shape values in the extrapolation period.
8. The wall shape measurement device according to claim 1 , further comprising:
a wall detection determination part configured to determine whether the wall-like object is detected; and
a period distance interpolation part configured to, when the wall detection determination part determines that the wall-like object is detected, when an extrapolation period in which extrapolation is executed by the extrapolation part is less than a preset interpolation determination time, and when the traveling distance of the vehicle in the extrapolation period is less than a preset interpolation determination distance, interpolate a plurality of the wall shape values in the extrapolation period.
9. The wall shape measurement device according to claim 6 , wherein
the wall shape calculation part calculates a wall distance filter value obtained by performing filter processing on the wall distance value acquired by the wall distance acquisition part, and further calculates a plurality of the wall shape values using the traveling track and a plurality of the wall distance filter values; and
the wall detection determination part determines that the wall-like object is detected when a difference between the current wall distance value and the wall distance filter value immediately before extrapolation is executed by the extrapolation part is less than a preset wall detection determination value.