PROBLEM TO BE SOLVED: To provide a vehicle outside monitoring device capable of detecting the deviation of an imaging optical axis in real time under various traveling environments.SOLUTION: A stereo image recognition device approximates a white line that partitions a present vehicle traveling road, with a primary or more approximate expression on the basis of an image captured by a stereo camera 3. A variation Xc for a lateral position of a present vehicle 1 relative to the white line in the case where the present vehicle 1 is traveled for a preset time T0, is calculated on the basis of a constant C of the approximate expression. A variation Xb for the lateral position of the present vehicle 1 relative to the white line in the case where the present vehicle 1 is traveled for the present time T0, is calculated on the basis of a primary coefficient B of the approximate expression. If a lateral movement error Err that is a difference between first and second lateral moving amounts Xc and Xb is equal to or more than a preset threshold Eth1, it is determined that an optical axis is deviated in a horizontal direction of the stereo camera 3.
【課題】撮像光軸のズレを様々な走行環境下においてリアルタイムに検出することができる車外監視装置を提供する。【解決手段】ステレオ画像認識装置4は、ステレオカメラ3によって撮像された画像に基づいて自車走行路を区画する白線を1次以上の近似式で近似し、自車1が設定時間T0走行したときの白線に対する自車1の横位置の変化量Xcを近似式の定数Cに基づいて算出し、自車1が設定時間T0走行したときの白線に対する自車1の横位置の変化量Xbを近似式の1次係数Bに基づいて算出し、これら第1,第2の横方向移動量Xc,Xbの差である横方向移動誤差Errが設定閾値Eth1以上であるとき、ステレオカメラ3の水平方向への光軸ズレが発生していると判定する。【選択図】図10
VEHICLE OUTSIDE MONITORING DEVICE
車外監視装置
2015-11-02
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 |
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