To provide a road gradient estimation apparatus which can reduce, in number, positions whose road gradient cannot be estimated.SOLUTION: An apparatus according to the present invention comprises: a coordinate extracting unit 126 for extracting coordinates of a longitudinal-direction existing object existing ahead in a traveling direction of a vehicle; a reference determining unit 127 for determining a road shaping line based on the extracted coordinates in a road width direction and determining a distance change reference value indicating a road longitudinal direction change of distance between one or more pairs of road sharing lines; a coordinate converting unit 124 for converting the coordinates of the detected road shaping lines determined based on a position of the longitudinal-direction existing object detected by an object detection sensor 110 into coordinates on candidate road surfaces of plural kinds having different road gradients; a detection value determining unit 125 for determining a distance change value, with respect to each of the candidate road surfaces, indicating the road longitudinal-direction change of the distance between the detected road shaping lines obtained after conversion of coordinates; and a road gradient estimation unit 128 for estimating the road gradient corresponding to the distance change detected value closest to the distance change reference value among the plurality of distance changed detection values, as the slope of the road on which the vehicle is traveling.SELECTED DRAWING: Figure 3

    【課題】道路勾配を推定できない位置を少なくできる道路勾配推定装置を提供する。【解決手段】地図データから、車両の進行方向前方に存在する長手方向存在物の座標を抽出する座標抽出部126と、抽出した座標に基づいて道路形状線を道路幅方向に決定し、1対以上の道路形状線間の距離の道路長手方向変化を示す距離変化基準値を決定する基準決定部127と、物体検出センサ110が検出した長手方向存在物の位置に基づいて決定できる検出道路形状線の座標を、道路勾配を互いに異ならせた複数種類の候補道路面上の座標に変換する座標変換部124と、座標変換後の検出道路形状線間の距離の道路長手方向変化を示す距離変化検出値を候補道路面別に決定する検出値決定部125と、複数の距離変化検出値のうち、距離変化基準値に最も近い距離変化検出値に対応する道路勾配を、車両が走行する道路の勾配であると推定する道路勾配推定部128とを備える。【選択図】図3


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    Title :

    ROAD GRADIENT ESTIMATION APPARATUS AND ROAD GRADIENT ESTIMATION METHOD


    Additional title:

    道路勾配推定装置および道路勾配推定方法


    Contributors:

    Publication date :

    2023-08-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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