To improve accuracy in automatic steering based on a scene in an advancing direction.SOLUTION: Image data is converted into input data. Input data is input to a CNN 210. A luminance value and a distance value are associated with each of pixels of the input data. The input data is subjected to convolution, pooling, and normalizing processing, to extract an amount λ of scene characteristic. Upon receiving input of the amount λ of scene characteristic, an initial value determining section 220 outputs an initial value z. The CNN 210 and the initial value determining section 220 have finished learning so that the initial value zis equal to an appropriate value.SELECTED DRAWING: Figure 3

    【課題】進行方向のシーンに基づく自動操舵の精度を向上させること。【解決手段】撮像データは、入力データに変換される。入力データは、CNN210に入力される。入力データの各ピクセルには、輝度値と、距離を示す値とが対応付けられている。入力データに畳み込み、プーリング、正規化の処理が施され、シーン特徴量λが抽出される。初期値決定部220は、シーン特徴量λkが入力されると、初期値zkを出力する。初期値zkが適切な値になるように、CNN210及び初期値決定部220は、学習済みである。【選択図】図3


    Access

    Download


    Export, share and cite



    Title :

    STEERING-ANGLE DETERMINING DEVICE AND AUTOMATIC DRIVING VEHICLE


    Additional title:

    操舵角決定装置、自動運転車



    Publication date :

    2018-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    Steering device for automatic driving vehicle

    OJIMA YOSUKE / HANJI MUNETSUGU / MIYAKAWA HAYATO et al. | European Patent Office | 2024

    Free access

    STEERING DEVICE FOR AUTOMATIC DRIVING VEHICLE

    OJIMA YOSUKE / HANJI MUNETSUGU / MIYAKAWA HAYATO et al. | European Patent Office | 2022

    Free access

    STEERING DEVICE OF AUTOMATIC DRIVING VEHICLE

    OJIMA YOSUKE / HANJI SOJI / MIYAGAWA HAYATO et al. | European Patent Office | 2022

    Free access


    Determining steering angle of steering column of vehicle

    DI CAIRANO STEFANO | European Patent Office | 2015

    Free access