Road surface condition detection device, road surface condition detection method, and road surface condition detection program

Abstract

To provide a technique capable of satisfactorily detecting the depth of a recess on a road surface and the height of a descending step.SOLUTION: A road surface condition detection device (10) includes: a step determination unit (113) that determines whether there is a descending step (SD) based on a reflected wave from a road surface (RS) of an exploration wave detected by a distance sensor (3); and a step calculation unit (114) that, when the step determination unit determines that there is a descending step, calculates height of the descending step. The step determination unit determines the presence of the descending step by detecting a non-reflection section between, of the descending step, a road surface reflection section due to the reflected wave from an upper-level road surface (SD1) on a near side and a road surface reflection section due to the reflected wave from a lower-level road surface (SD2) on a back side. The step calculation unit calculates the height of the descending step using the mounting height of the distance sensor, the non-reflection section, a directivity angle, and a detection angle based on the fact that the non-reflection section increases or decreases under a plurality of conditions of transmission and reception conditions different from each other.SELECTED DRAWING: Figure 2

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