To provide an environment recognition system capable of generating a detailed map for automatic traveling by supplementing a dead angle area of an on-vehicle camera caused by a movement obstacle such as a preceding vehicle with a photographed image obtained from a road camera.SOLUTION: An environment recognition system that recognizes an outer environment of an own vehicle by combining a photographed image from an on-vehicle camera and a photographed image from an outer camera, comprises: an on-vehicle camera that photographs a front side of the own vehicle; an on-vehicle communication unit that communicates with the outer camera; a front-side moving body detection unit that detects any moving body on the front side on the basis of the photographed image from the on-vehicle camera; a dead angle area extraction unit that extracts a dead angle area due to the moving body; an image conversion unit that converts the received photographed image from the outer camera into a view point of the on-vehicle camera; an image combining unit that combines a view point converted image made by the image conversion part into the dead angle area of the photographed image from the on-vehicle camera; and a detail map generation unit that generates a detailed map in a direction of traveling of the own vehicle on the basis of the combined image from the image composite unit.SELECTED DRAWING: Figure 1
【課題】 先行車両などの移動障害物によって生じる車載カメラの死角領域を、路上カメラから入手した撮影画像で補完して、自動走行用の詳細地図を生成できる外界認識システムを提供する。【解決手段】 車載カメラの撮影画像と外部カメラの撮影画像を合成して、自車両の外部環境を認識する外界認識システムであって、自車両の前方を撮影する車載カメラと、前記外部カメラと通信する車載通信部と、前記車載カメラの撮影画像に基づいて、前方の移動体を検知する前方移動体検知部と、前記移動体による死角領域を抽出する死角領域抽出部と、受信した前記外部カメラの撮影画像を前記車載カメラの視点に変換する画像変換部と、前記車載カメラの撮影画像の前記死角領域に、前記画像変換部による視点変換画像を合成する画像合成部と、該画像合成部の合成画像に基づいて自車両の進行方向の詳細地図を生成する詳細地図生成部と、を具備することを特徴とする外界認識システム。【選択図】 図1
ENVIRONMENT RECOGNITION SYSTEM AND ENVIRONMENT RECOGNITION METHOD
外界認識システム、および、外界認識方法
2022-02-10
Patent
Elektronische Ressource
Japanisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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