To improve the accuracy of a road gradient using a captured image and a detection point.SOLUTION: A road gradient estimation device 100 for use in a vehicle 50 is provided. The road gradient estimation device 100 comprises: an interest area determination unit that determines an area of interest FA on a road using a captured image or an ambient light image acquired from an imaging device 30 or a rider 20; a detection point group acquisition unit that acquires a detection point group by controlling the rider 20, the detection point group acquisition unit being capable of acquiring a detection point group of interest by increasing the resolution or signal intensity of the detection point group in the area of interest; and a gradient estimation unit that estimates a road gradient using a group of high resolution detection points of interest.SELECTED DRAWING: Figure 1
【課題】撮像画像および検出点を用いて道路勾配の推定精度を向上させること。【解決手段】車両50に用いられる道路勾配推定装置100が提供される。道路勾配推定装置100は、撮像装置30またはライダー20から取得される撮像画像または環境光画像を用いて道路上における注目領域FAを決定する注目領域決定部と、ライダー20を制御して検出点群を取得する検出点群取得部であって、注目領域における検出点群の分解能または信号強度を増大させて注目検出点群を取得可能な検出点群取得部と、注目高分解能検出点群を用いて道路勾配を推定する勾配推定部とを備える。【選択図】図1
ROAD GRADIENT ESTIMATION DEVICE, ROAD GRADIENT ESTIMATION SYSTEM, AND ROAD GRADIENT ESTIMATION METHOD
道路勾配推定装置、道路勾配推定システムおよび道路勾配推定方法
2021-09-02
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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