To provide a method of determining certainty for a laser sensor, having high precision and improved reliability.
In this method of determining certainty for the laser sensor for pedestrian detection, the road surface where a pedestrian who is a measuring object exists is irradiated with a laser beam; the azimuth, the elevation angle, the measuring distance, and the intensity of light-receiving are measured relative to the pedestrian who is the measuring object as a target; the degree of scattering is operated based on acquired information, and when the degree of scattering is sufficiently small, the certainty is determined to be high; when the degree of scattering is large, the certainty is determined to be low; then, in the case where the certainty is determined to be high based on the degree of scattering, the degree of absorption is calculated; and when the degree of absorption is sufficiently small, certainty is determined to be high.
NAKAMURA TOSHIO
KAMAGAMI NORIO
NAGATA KOICHIRO
