PROBLEM TO BE SOLVED: To make it possible to make vehicles rectilinearly travel with high accuracy without setting a target lamp forward the vehicle.SOLUTION: A moving vehicle travelling control device comprises: a target area setting unit 22 that sets a target area in a shot image forward a vehicle; a template image creation unit 23 that creates a plurality of template images different in a magnification from the image of the target area; a yaw angle detection unit 25 that detects a matching area which matches the template image highest in a matching level from inside the shot image, and detects a yaw angle of the vehicle from a difference between a position of the matching area, and a position in a front direction of a moving vehicle; and a steering control unit 26 that controls steering of the vehicle on the basis of detected yaw angle. The moving vehicle travelling control device is configured to: control travelling, using the image of the target area set forward the vehicle; in this instance, even when a subject to be reflected in the shot image becomes gradually larger due to an advance movement of the vehicle, maintain high matching accuracy among the template images at any magnification; and allow the vehicle to rectilinearly travel with high accuracy.SELECTED DRAWING: Figure 2
【課題】車両前方にターゲットランプを設置することなく、車両を精度よく直進走行させることができるようにする。【解決手段】車両前方の撮像画像内に目標領域を設定する目標領域設定部22と、目標領域の画像から異なる倍率の複数のテンプレート画像を生成するテンプレート画像生成部23と、最も合致度の高いテンプレート画像と合致する合致領域を撮像画像内から検出し、合致領域の位置と、移動車両の正面方向の位置との差異から車両のヨー角を検出するヨー角検出部25と、当該検出したヨー角に基づいて車両の操舵を制御する操舵制御部26とを備え、車両前方に設定した目標領域の画像を利用して走行制御し、このとき車両が前進することで撮像画像に写る被写体が徐々に大きくなっても、何れかの倍率のテンプレート画像との間で高いマッチング精度を維持し、車両を精度よく直進走行させることができるようにする。【選択図】図2
MOVING VEHICLE TRAVELLING CONTROL DEVICE
移動車両の走行制御装置
2017-11-30
Patent
Electronic Resource
Japanese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B62D MOTOR VEHICLES , Motorfahrzeuge / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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