JP7348874B2 - 傾斜角検出装置及び制御装置 - Google Patents
傾斜角検出装置及び制御装置 Download PDFInfo
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Description
なお、運転計画部35は、複数の走行予定経路を生成してもよい。この場合、運転計画部35は、複数の走行予定経路のうち、車両10の加速度の絶対値の総和が最小となる経路を選択してもよい。
2 カメラ
3 電子制御装置(傾斜角検出装置)
4 車内ネットワーク
21 通信インターフェース
22 メモリ
23 プロセッサ
31 物体検出部
32 特徴抽出領域設定部
33 傾斜角検出部
34 追跡部
35 運転計画部
36 車両制御部
Claims (5)
- 撮像部により生成された画像を、二輪車を検出するように予め学習された第1の識別器に入力することで、前記画像上で前記二輪車を含む物体領域を検出する物体検出部と、
前記物体領域を互いに異なる所定角度ずつ回転させた複数の特徴抽出領域を設定し、前記複数の特徴抽出領域のそれぞれを前記画像から切り出す特徴抽出領域設定部と、
前記複数の特徴抽出領域のそれぞれにおいて、当該特徴抽出領域に表された前記二輪車の左端の位置と前記二輪車の右端の位置間の幅を求め、前記複数の特徴抽出領域のそれぞれについての前記画像に対する回転角と前記幅とに基づいて、前記幅が最小となる前記画像に対する回転角を、地面の法線に対する前記二輪車の傾斜角として検出する傾斜角検出部と、
を有する傾斜角検出装置。 - 前記傾斜角検出部は、前記複数の特徴抽出領域のそれぞれについて、所定のサイズとなるように当該特徴抽出領域のサイズを変更してから、前記二輪車の左端の位置及び右端の位置を検出するように予め学習された第2の識別器に入力することで、前記複数の特徴抽出領域のそれぞれにおける前記二輪車の左端の位置及び右端の位置を求め、前記複数の特徴抽出領域のそれぞれについて、当該特徴抽出領域における当該左端の位置及び当該右端の位置の差として当該特徴抽出領域における前記幅を求める、請求項1に記載の傾斜角検出装置。
- 前記傾斜角検出部は、前記複数の特徴抽出領域のそれぞれにおける、前記幅と当該特徴抽出領域の前記画像に対する回転角の組をフィッティングすることで、前記回転角の変化に対する前記幅の変化を表すフィッティング曲線をもとめ、当該フィッティング曲線において前記幅が最小となる回転角を、地面の法線に対する前記二輪車の傾斜角とする、請求項1または2に記載の傾斜角検出装置。
- 撮像部により生成された画像を、二輪車を検出するように予め学習された第1の識別器に入力することで、前記画像上で前記二輪車を含む物体領域を検出する物体検出部と、
前記物体領域を互いに異なる所定角度ずつ回転させた複数の特徴抽出領域を設定し、前記複数の特徴抽出領域のそれぞれを前記画像から切り出す特徴抽出領域設定部と、
前記複数の特徴抽出領域のそれぞれにおいて、当該特徴抽出領域に表された前記二輪車の上端の位置と前記二輪車の下端の位置間の高さを求め、前記複数の特徴抽出領域のそれぞれについての前記画像に対する回転角と前記高さとに基づいて、前記高さが最大となる前記画像に対する回転角を、地面の法線に対する前記二輪車の傾斜角として検出する傾斜角検出部と、
を有する傾斜角検出装置。 - 車両の走行を制御する制御装置であって、
前記車両に搭載された撮像部により生成された画像を、二輪車を検出するように予め学習された第1の識別器に入力することで、前記画像上で前記車両の周囲に位置する前記二輪車を含む物体領域を検出する物体検出部と、
前記物体領域を互いに異なる所定角度ずつ回転させた複数の特徴抽出領域を設定し、前記複数の特徴抽出領域のそれぞれを前記画像から切り出す特徴抽出領域設定部と、
前記複数の特徴抽出領域のそれぞれにおいて、当該特徴抽出領域に表された前記二輪車の左端の位置と前記二輪車の右端の位置間の幅を求め、前記複数の特徴抽出領域のそれぞれについての前記画像に対する回転角と前記幅とに基づいて、前記幅が最小となる前記画像に対する回転角を、地面の法線に対する前記二輪車の傾斜角として検出する傾斜角検出部と、
前記傾斜角に基づいて、前記二輪車が走行する軌跡を予測し、予測した前記軌跡に基づいて、前記車両が前記二輪車と所定距離以上離れるように前記車両の走行予定経路を設定する運転計画部と、
前記走行予定経路に沿って前記車両が走行するように前記車両を制御する車両制御部と、
を有する制御装置。
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CN202110344339.3A CN113492850B (zh) | 2020-04-06 | 2021-03-31 | 倾斜角检测装置及控制装置 |
US17/220,082 US11726483B2 (en) | 2020-04-06 | 2021-04-01 | Apparatus for detecting inclination angle and controller |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2012003708A (ja) | 2010-06-21 | 2012-01-05 | Mitsubishi Heavy Ind Ltd | 車幅推定装置、車両推定装置、車幅推定方法及びプログラム |
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