To approximately set information used for an object and a collision avoidance determination regardless of a posture of the object such as a preceding vehicle.SOLUTION: A wall surface setting part specifies a coordinate of a front left end A of an own vehicle 1; a front right end B of the own vehicle 1; a left end C of an object 2; a right end D of the object 2, and an XZ flat surface of a nearest end E of the object 2. The wall surface setting part calculates an auxiliary line LAD connecting the front left end A and the right end D and an auxiliary line LBC connecting the front right end B and the left end C. The wall surface setting part includes the nearest end E, and calculates a flat surface SE vertical to a progressing direction of the own vehicle 1. The wall surface setting part specifies the coordinate of a cross point PR of the auxiliary line LAD and the flat surface SE and a cross point PL of the auxiliary line LBC and the flat surface SE. The wall surface setting part sets a wall surface W in which the cross point PR becomes a right end WR, and the cross point PL becomes a left end WL.SELECTED DRAWING: Figure 6
【課題】先行車両などの対象物の姿勢に依らず、その対象物との衝突回避判断に用いる情報を適切に設定する。【解決手段】壁面設定部は、自車両1の前方左端A、自車両1の前方右端B、対象物2の左端C、対象物2の右端Dおよび対象物2の最近端EのXZ平面における座標を特定する。壁面設定部は、前方左端Aと右端Dとを結ぶ補助線LADおよび前方右端Bと左端Cとを結ぶ補助線LBCを算出する。壁面設定部は、最近端Eを含み、自車両1の進行方向に垂直な平面SEを算出する。壁面設定部は、補助線LADと平面SEとの交点PRおよび補助線LBCと平面SEとの交点PLの座標を特定する。壁面設定部は、交点PRが右端WRとなり、交点PLが左端WLとなる壁面Wを設定する。【選択図】図6
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
車外環境認識装置および車外環境認識方法
2018-12-27
Patent
Electronic Resource
Japanese
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
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