To provide a technique realizing an appropriate determination result even in the case of being unable to obtain a result of determining a category of travel road surface on the basis of a pickup image of a front camera.SOLUTION: Processing for estimating a road-surface category is repeated. In the m-th processing, a period of retaining an estimation result of the aforementioned processing is set on the basis of inclination data taken immediately prior to the aforementioned processing. The retention period is set at a longer period as an up-inclination of a road surface represented by immediately prior inclination data increases. In a m+n-th processing, based on pickup image data, whether a road surface characteristic part has been recognized is determined. In a case where the determination result is negative, the retention period is compared with a period in which a road surface characteristic part has been continuously determined as unrecognizable (UNDEF period) in a period going back to the m+n-th processing. In a case where the retention period is longer than the UNDEF period, the estimation result of the m+n-th processing is estimated to be the same as that of the m-th processing.SELECTED DRAWING: Figure 7
【課題】フロントカメラの撮像画像に基づいた走行路面の種類の判定結果が得られない場合においても、適切な判定結果を与える技術を提供する。【解決手段】路面の種類を推定する処理が繰り返し行われる。m回目の処理では、当該処理の直前の勾配データに基づいて、当該処理による推定結果の保持期間を設定される。保持期間は、直前の勾配データにより示される路面の上り勾配が大きいほど長い期間に設定される。m+n回目の処理では、撮像データから路面特徴部が認識されたか否かが判定される。この判定結果が否定的な場合、保持期間と、m+n回目の処理から遡った過去において路面特徴部が認識されないと判定され続けた期間(UNDEF期間)とが比較される。保持期間がUNDEF期間よりも長い場合、m+n回目の処理による推定結果が、m回目の処理によるそれと同じであると推定される。【選択図】図7
ROAD SURFACE CATEGORY ESTIMATION APPARATUS AND VEHICLE CONTROL SYSTEM
路面種類推定装置および車両制御システム
2022-05-17
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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