To upgrade the redundancy and robustness of control by making it possible to continue traveling control, which is based on distance information on an object, even when a tentative image abnormality occurs in an image of a stereo camera.SOLUTION: When detecting an abnormality in an image captured by one of cameras 1a and 1b, an image abnormality detection unit 3 ceases stereo image processing performed by a stereo image processing unit 4, and instructs a monocular image processing unit 6 to execute monocular processing using an image of a normal one of the cameras 1a and 1b. The monocular image processing unit 6 calculates a distance to an object by applying an image feature quantity, which is based on a result of processing a stereo image and stored in an image feature storage unit 5, to the image of the normal one of the cameras 1a and 1b, and thus makes it possible to continue traveling control based on the distance information on the object.SELECTED DRAWING: Figure 1
【課題】ステレオカメラの画像に一時的な画像異常が発生しても対象物の距離情報に基づく走行制御を継続可能として、制御の冗長性、ロバスト性を向上する。【解決手段】画像異常検出部3でカメラ1a,1bの何れか一方の画像に異常が検出された場合、画像異常検出部3は、ステレオ画像処理部4によるステレオ画像処理を停止させるとともに、単眼画像処理部6に、カメラ1a,1bのうちの正常な方の画像を用いた単眼処理の実行を指示する。単眼画像処理部6は、カメラ1a,1bのうちの正常な方の画像に画像特徴記憶部5に記憶されているステレオ画像の処理結果に基づく画像特徴量を適用して対象物の距離を算出することで、対象物の距離情報に基づく走行制御を継続可能とする。【選択図】図1
TRAVELING ENVIRONMENT DETECTOR OF VEHICLE AND TRAVELING CONTROL SYSTEM
車両の走行環境検出装置及び走行制御システム
2020-03-26
Patent
Electronic Resource
Japanese
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