To provide a vehicle peripheral environment recognition device that, when a head lamp irradiates the front of a vehicle with light, and even when the positions of an object to be picked up and the vehicle move relatively, can photograph the object with an appropriate amount of exposure.SOLUTION: A vehicle peripheral environment recognition device comprises: an object position acquisition unit 152c that, based on output from a distance measuring sensor capable of measuring the distance to an object, acquires the position and speed of the moving object present in front of a vehicle; an object position prediction unit 152d that, based on the position and speed of the object and the movement of the vehicle, predicts the relative position of the object to the vehicle after a predetermined time at which the object is photographed; an illuminance estimation unit 152e that estimates the illuminance of the object at the predicted relative position based on the light distribution characteristics of a head lamp 130 of the vehicle defining the relationship between a position at which an arbitrary object is irradiated with light from the head lamp 130 irradiating the front of the vehicle with light and the illuminance of the object associated with the irradiation with light; and an exposure time determination unit 152f that, based on the estimated illuminance, determines the exposure time of an on-vehicle camera 110 that photographs the object after the predetermined time.SELECTED DRAWING: Figure 5
【課題】ヘッドランプが車両の前方を照射している場合に、撮像しようとする対象と車両の位置が相対的に移動する場合であっても、適切な露光量で対象を撮影することが可能な車両の周辺環境認識装置を提供する。【解決手段】車両の周辺環境認識装置は、対象までの距離を計測可能な測距センサの出力に基づいて車両の前方に存在する動きのある該対象の位置および速度を取得する対象位置取得部152cと、対象の位置および速度と車両の動きとに基づいて、対象が撮影される所定時間後の車両に対する対象の相対位置を予測する対象位置予測部152dと、車両の前方を照射する車両のヘッドランプ130からの光が任意の物体に照射される位置と該光が照射されたことに伴う該物体の照度との関係を規定したヘッドランプ130の配光特性に基づいて、予測された相対位置における対象の照度を推定する照度推定部152eと、推定された照度に基づいて、所定時間後における対象を撮影する車載カメラ110の露光時間を決定する露光時間決定部152fと、を備える。【選択図】図5
VEHICLE PERIPHERAL ENVIRONMENT RECOGNITION DEVICE
車両の周辺環境認識装置
2022-06-23
Patent
Elektronische Ressource
Japanisch
IPC: | H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / 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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