To provide a traveling support apparatus capable of accurately estimating an inclination angle of a slope inclined in an arbitrary direction by performing an inclination direction estimation for estimating the inclination direction by analyzing a movement amount of a feature point on an image by traveling, and then performing an inclination angle estimation, thereby enabling more accurate automatic parking.SOLUTION: The traveling support apparatus is provided with an inclination detection unit for detecting an inclination direction of a slope or a road surface around a vehicle based on a camera image taken around the vehicle by a camera mounted on the vehicle, and supports traveling of the vehicle based on the inclination direction.SELECTED DRAWING: Figure 5
【課題】画像上の特徴点の走行による移動量を分析することにより傾斜方向を推定する傾斜方向推定を行い、その後に傾斜角推定を行うことにより、任意の方向に傾斜した斜面の傾斜角を正しく推定し、より正確な自動駐車を可能にした走行支援装置を提供する。【解決手段】走行支援装置は、車両が搭載するカメラが車両の周辺を撮影したカメラ画像に基づいて、車両の周辺の斜面または路面の傾斜の方向を検出する傾斜検出部を有し、傾斜の方向に基づいて車両の走行を支援する。【選択図】図5
TRAVELING SUPPORT APPARATUS AND TRAVELING SUPPORT METHOD
走行支援装置および走行支援方法
04.10.2024
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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