PROBLEM TO BE SOLVED: To acquire an accurate obstacle distance from a camera image in a travel or stop state of a vehicle.SOLUTION: A drive support device acquires a camera height Hc2 when a live load of a vehicle is a maximum during a stop of the vehicle. During the stop of the vehicle, when a camera image which is an image of a view picked up by the camera includes a specific object, the drive support device acquires a location of the specific object in the camera image and an object distance Dest which is a distance from the vehicle to the specific object on the basis of the location and the camera height Hc2. The drive support device performs collision avoidance control to avoid a collision of the vehicle against the specific object when the object is within a vehicle planned travel range and the object distance reaches a specific distance or less.SELECTED DRAWING: Figure 8

    【課題】車両の走行、停止状態において、カメラ画像から正確な障害物距離を取得する。【解決手段】運転支援装置は、車両の停止中、車両の積載荷重が最大積載荷重である場合のカメラ高さHc2を取得する。運転支援装置は、車両の停止中において、カメラによって撮影された風景の画像であるカメラ画像中に所定対象物が含まれている場合、カメラ画像中における所定対象物の位置を取得し、その位置及びカメラ高さHc2に基づいて車両から所定対象物までの距離である対象物距離Destを取得する。運転支援装置は、対象物が車両の走行予定範囲内にあり且つ対象物距離が所定距離以下になった場合、車両の所定対象物との衝突を回避するための衝突回避制御を実行する。【選択図】図8


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    Title :

    VEHICLE DRIVE SUPPORT DEVICE


    Additional title:

    車両の運転支援装置


    Contributors:

    Publication date :

    2017-12-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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