PROBLEM TO BE SOLVED: To enable an automatic drive even in a parking space without a parking frame line.SOLUTION: An automatic drive control device 10 includes: an automatic drive information registration unit 12 that creates automatic drive information; and an automatic drive control unit that automatically drives a vehicle on the basis of an image upon automatic driving, and the automatic drive information. The automatic drive information registration unit 12 includes: a candidate characteristic point extraction unit 22 that extracts a candidate characteristic point on the basis of an image upon registration; and an automatic drive information generation unit 23 that selects the candidate characteristic point judged to be a structure fixedly arranged around an objective portion of a vehicle of the candidate characteristic points as a characteristic point on the basis of a plurality of images upon registration, and creates automatic drive information serving as information on a location of the characteristic point with respect to a prescribed origin coordinate. The automatic drive control unit includes: a vehicle location calculation unit that calculates vehicle location information serving as information on a location of the vehicle on the basis of the image upon automatic driving and the automatic drive information; and an automatic drive execution control unit that executes an automatic driving on the basis of the vehicle location information.SELECTED DRAWING: Figure 2
【課題】駐車枠線がない駐車スペースにおいても自動駐車を可能とする。【解決手段】自動運転制御装置10は、自動運転情報を生成する自動運転情報登録部12と、自動運転時画像及び自動運転情報に基づき、車両を自動運転する自動運転制御部と、を有する。自動運転情報登録部12は、登録時画像に基づき候補特徴点を抽出する候補特徴点抽出部22と、複数の登録時画像に基づき、候補特徴点のうち、車両の目的箇所の周囲に固定して配置された構造物であると判断した候補特徴点を、特徴点として選定し、所定の原点座標に対する特徴点の位置の情報である自動運転情報を生成する自動運転情報生成部23と、を有する。自動運転制御部は、自動運転時画像と自動運転情報とに基づき、車両の位置の情報である車両位置情報を算出する車両位置算出部と、車両位置情報に基づき自動運転する自動運転実行制御部と、を有する。【選択図】図2
AUTOMATIC DRIVE CONTROL DEVICE, VEHICLE AND AUTOMATIC DRIVE CONTROL METHOD
自動運転制御装置、車両及び自動運転制御方法
2017-08-10
Patent
Electronic Resource
Japanese
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