To provide an inter-vehicle distance estimation apparatus capable of reducing cases where estimation is impossible, and estimating an inter-vehicle distance from an own vehicle to a preceding vehicle relatively inexpensively with prescribed accuracy.SOLUTION: An inter-vehicle distance X is calculated by multiplying, by a camera focal distance f, a value which is obtained by dividing an estimated vehicle width WOBJ by an image formation plane vehicle width wobj. The estimated vehicle width WOBJ is calculated as a weighted average value of individual estimated vehicle widths including at least two of: a first individual estimated vehicle width calculated on the basis of a height H of a camera, a vanishing point height v in an image formation plane 8, and the image formation plane vehicle width wobj; a second individual estimated vehicle width calculated on the basis of a vehicle classification; a third individual estimated vehicle width calculated on the basis of a lane width; and a fourth individual estimated vehicle width calculated on the basis of a width of a number plate.SELECTED DRAWING: Figure 2
【課題】推定不能となる場合が少なく、比較的安価に、所定の精度をもって自車両から先行車両までの車間距離を推定する車間距離推定装置を提供する。【解決手段】前記車間距離Xは、推定車幅WOBJを、結像面車幅wobjで除した値に、カメラ焦点距離fを乗じることによって算出される。推定車幅WOBJは、カメラの高さH、結像面8の消失点高さv及び結像面車幅wobjに基づいて算出される第1個別推定車幅、車両種別に基づいて算出される第2個別推定車幅、レーン幅に基づいて算出される第3個別推定車幅、及びナンバープレートの幅に基づいて算出される第4個別推定車幅の少なくとも2つを含む個別推定車幅の加重平均値として算出される。【選択図】図2
INTER-VEHICLE DISTANCE ESTIMATION APPARATUS
車間距離推定装置
13.10.2023
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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