To enable driving assistance control and autonomous driving to be continued without significantly impairing the traveling state, even when one of four cameras having failed is substituted by an other camera.SOLUTION: A first to a fourth camera 22a-22d are arranged with prescribed reference lengths Ls, Ll provided, and it is made possible to acquire stereo images of a first to a sixth imaging area I-VI by a combination of the cameras 22a-22d. When failure of a pair of selected cameras is detected from the stereo images (S6), a failed camera is specified (S8) and alternative imaging areas closest to the imaging areas are set (S9) by the safe and sound cameras and newly selected other cameras. Alternative stereo images of the selected alternative imaging areas are acquired (S11) and these alternative stereo images are applied in place of the failed stereo images (S13).SELECTED DRAWING: Figure 4

    【課題】4台のカメラの1台が失陥した際に、他のカメラでそれを代用しても、走行状態を著しく損なうことがなく、運転支援制御、自動運転を継続させることができるようにする。【解決手段】第1〜第4カメラ22a〜22dを所定基線長Ls,Llを有して配置し、各カメラ22a〜22dの組合わせにより第1〜第6撮像領域I〜VIのステレオ画像を取得可能とし、選択した一対のカメラのステレオ画像から失陥を検出した場合(S6)、失陥したカメラを特定し(S8)、失陥していない側のカメラと新たに選択した他のカメラとにより、上記撮像領域に最も近い代替撮像領域を設定し(S9)、選択した代替撮像領域の代替ステレオ画像を取得し(S11)、この代替ステレオ画像を失陥したステレオ画像に代えて適用させる(S13)。【選択図】図4


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    Title :

    STEREO CAMERA DEVICE FOR VEHICLES


    Additional title:

    車両用ステレオカメラ装置


    Contributors:

    Publication date :

    2020-04-02


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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