To provide a vehicle support method capable of improving the accuracy of recognizing a road structure in an area of low image resolution, and a vehicle support apparatus.SOLUTION: A vehicle support apparatus 1 includes: a camera 10 which images the surroundings of a vehicle multiple times at different timings; and a controller 20 which processes images captured at different timings by the camera 10. The controller 20 extracts a repetitive pattern area which is an area where a repetitive pattern having a spatial frequency component of a predetermined frequency or higher exists, for each of the images, calculates moving amount on an image, on the basis of an image of the area excluding the repetitive pattern area in each of the images, aligns the images on the basis of the moving amount, executes super-resolution processing using the aligned images, generates a super-resolution image exceeding a resolution of the images captured by the camera, and recognizes a road structure on the basis of the super-resolution image.SELECTED DRAWING: Figure 1
【課題】画像の解像度が低い領域において道路構造物の認識精度を向上させることが可能な車両支援方法及び車両支援装置を提供する。【解決手段】車両支援装置1は、自車両の周囲を異なるタイミングで複数回撮像するカメラ10と、カメラ10によって異なるタイミングで撮像された複数の画像を処理するコントローラ20と、を備える。コントローラ20は、複数の画像のそれぞれに対して所定周波数以上の空間周波数成分を有する繰り返しパターンが存在する領域である繰り返しパターン領域を抽出し、複数の画像の各画像における繰り返しパターン領域を除いた領域の画像に基づいて画像上の移動量を算出し、移動量に基づいて複数の画像の位置合わせを行い、位置合わせが行われた複数の画像を用いて超解像処理を行い、カメラによって撮像された画像の解像度を超える超解像画像を生成し、超解像画像に基づいて道路構造物を認識する。【選択図】図1
VEHICLE SUPPORT METHOD AND VEHICLE SUPPORT APPARATUS
車両支援方法及び車両支援装置
2022-06-08
Patent
Electronic Resource
Japanese
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