A road recognition apparatus is provided to determine a change in slope of the road by using a position of the preceding vehicle in a captured image. The road recognition apparatus detects a lower end portion of the preceding vehicle in the captured image. The road recognition apparatus calculates an estimated position where the lower end portion is expected to be present when assuming that the slope of the road is constant. The road recognition apparatus determines whether a difference between the detected lower end portion and the estimated position in the up-down direction exceeds a predetermined threshold. The road recognition apparatus determines that the road change point of the road is present when determined that the difference exceeds the predetermined threshold.
ROAD RECOGNITION APPARATUS
25.04.2019
Patent
Elektronische Ressource
Englisch
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06K Erkennen von Daten , RECOGNITION OF DATA |
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