To properly recognize an external field of a movable body.SOLUTION: A control device of a movable body having a plurality of imaging devices including a first imaging device and a second imaging device comprises: an image acquisition unit which acquires images of an external field of the movable body from the plurality of imaging devices; a correction unit which performs distortion reduction processing for reducing a distortion of the image for each of one or more regions included in the images acquired from the plurality of imaging devices; and a recognition unit which recognizes the external field of the movable body on the basis of the image subjected to the distortion reduction processing. The correction unit makes the second region including the state in the specific direction of the image acquired from the second imaging device the target of the distortion reduction processing when the first region including the state in the specific direction of the movable body of the image acquired from the first imaging device is made to be the target of the distortion reduction processing.SELECTED DRAWING: Figure 8
【課題】移動体の外界を適切に認識する。【解決手段】第1撮影装置及び第2撮影装置を含む複数の撮影装置を有する移動体の制御装置は、複数の撮影装置から移動体の外界の画像を取得する画像取得部と、複数の撮影装置から取得された画像に含まれる1つ以上の領域のそれぞれについて画像の歪みを軽減するための歪み軽減処理を行う補正部と、歪み軽減処理が行われた画像に基づいて移動体の外界を認識する認識部と、を有する。補正部は、第1撮影装置から取得された画像のうち移動体の特定の方向の状況を含む第1領域を歪み軽減処理の対象とするときに、第2撮影装置から取得された画像のうち特定の方向の状況を含む第2領域を歪み軽減処理の対象とする。【選択図】図8
MOVABLE BODY CONTROL DEVICE, CONTROL METHOD AND VEHICLE
移動体の制御装置及び制御方法並びに車両
2022-10-06
Patent
Elektronische Ressource
Japanisch
IPC: | 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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