To accurately detect objects present at left and right ahead, not just an object ahead a vehicle, and calculate distance information needed for traveling control.SOLUTION: The image of a stereo camera ST1 arranged in the vehicle width direction of a vehicle is processed by a first stereo image processing unit 3A to calculate parallax in the horizontal direction, and a distance image is generated. Also, the images of stereo cameras ST2, ST3 arranged in the vehicle height direction are respectively processed by second stereo image processing units 3B, 3C to calculate parallax in the vertical direction, and a distance image is generated. Then, the distance images of the stereo cameras ST1, ST2, ST3 are integrated by an image integration unit 4 to acquire distance information pertaining to a plurality of objects present at left and right ahead, not just objects present ahead of the vehicle, and a traveling environment is recognized. A traveling control device 50 executes traveling control on the basis of the traveling environment recognized from integrated image information.SELECTED DRAWING: Figure 1

    【課題】車両の前方のみならず前方の左右に存在する対象物も的確に検出して走行制御に必要な距離情報を算出する。【解決手段】車両の車幅方向に配置したステレオカメラST1の画像を第1ステレオ画像処理部3Aで処理して水平方向の視差を算出し、距離画像を生成する。また、車高方向に配置したステレオカメラST2,ST3の画像を、それぞれ、第2ステレオ画像処理部3B,3Cで処理して垂直方向の視差を算出し、距離画像を生成する。そして、画像統合部4でステレオカメラST1,ST2,ST3の各距離画像を統合して車両の前方のみならず前方の左右に存在する複数の対象物の距離情報を取得し、走行環境を認識する。走行制御装置50は、統合画像情報から認識される走行環境に基づいて走行制御を実施する。【選択図】図1


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    Titel :

    VEHICLE TRAVELING ENVIRONMENT DETECTOR AND TRAVELING CONTROL SYSTEM


    Weitere Titelangaben:

    車両の走行環境検出装置及び走行制御システム


    Beteiligte:
    YUKAWA TERU (Autor:in) / MINAKAWA MASATOSHI (Autor:in) / YOSHIMURA SHOTA (Autor:in) / TAKAHASHI KAZUKI (Autor:in) / MOTEGI KEISUKE (Autor:in)

    Erscheinungsdatum :

    2020-04-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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