A vehicle control device is provided with: a camera (1a) that captures an image of the outside world around a host vehicle by means of an image sensor and acquires position information of a target object; a detector (1b) that acquires position information of the target on the basis of a reflected wave from the detection target within the imaging region of the camera (1a); a travel control unit (16) that performs travel control of the vehicle on the basis of the two-position information; a setting unit (17a) that sets a threshold value to be compared with an evaluation value calculated on the basis of a signal value from the image sensor; a determination unit (17b) that compares the evaluation value with a threshold value and determines deterioration in the imaging environment in the camera (1a); and a degradation instruction unit (17c) that instructs the travel control unit (16) to restrict or prohibit a predetermined driving assistance function or automatic driving function when it is determined that the imaging environment has deteriorated. The setting unit (17a) sets a first threshold value as a threshold value when the sun may be included in the imaging region of the camera (1a), and otherwise sets a second threshold value, which is larger than the first threshold value, as a threshold value.
车辆用控制装置具备:相机(1a),其利用图像传感器拍摄本车辆周围的外界,取得目标物的位置信息;检测器(1b),其根据来自相机(1a)的拍摄区域内的检测对象的反射波,取得目标物的位置信息;行驶控制部(16),其根据两位置信息实施车辆的行驶控制;设定部(17a),其设定与根据来自图像传感器的信号值计算出的评价值比较的阈值;判断部(17b),其将评价值与阈值比较,判断相机(1a)中的拍摄环境的恶化;以及退化指示部(17c),其在判断为拍摄环境恶化的情况下,向行驶控制部(16)指示规定的驾驶辅助功能或自动驾驶功能的限制或禁止。设定部(17a)在相机(1a)的拍摄区域中可能包含太阳的情况下,将第一阈值设定为阈值,否则将比第一阈值大的第二阈值设定为阈值。
Vehicle control device
车辆用控制装置
2023-06-16
Patent
Elektronische Ressource
Chinesisch
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