Vehicle environment recognition apparatus

A technology for identifying devices and the external environment, applied in the direction of measuring devices, character and pattern recognition, instruments, etc., can solve the problem that the GPS position accuracy is not too high, the driver cannot be fully assisted in driving operations, and the relative position relationship cannot be grasped, etc. problem, to achieve the effect of comfortable driving

Inactive Publication Date: 2015-03-18
SUBARU CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, map data used in car navigation devices and the like are only used to represent fixed topography after all, and it is impossible to grasp the relative positional relationship between stationary objects represented on the map and moving vehicles.
In this regard, the absolute position of the vehicle can be estimated by using the GPS (Global Positioning System) mounted on the vehicle. However, the position accuracy of the GPS is not too high. If the error of such an absolute position is used as a control input call, there is a concern that the driver's driving operation cannot be fully assisted

Method used

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  • Vehicle environment recognition apparatus
  • Vehicle environment recognition apparatus

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no. 1 approach

[0042] [First Embodiment: Environment Recognition Device 120 Outside the Vehicle]

[0043] figure 2 It is a functional block diagram showing a schematic function of the vehicle exterior environment recognition device 120 . Such as figure 2 As shown, the vehicle exterior environment recognition device 120 includes an interface (I / F, Interface) unit 150 , a data storage unit 152 , and a central control unit 154 .

[0044] The interface unit 150 is an interface for bidirectional information exchange with the imaging device 110 and / or the vehicle control device 130 . The data storage unit 152 is composed of RAM, flash memory, HDD (Hard Disk Drive, hard disk drive), etc., and is used to store various information necessary for the processing of each functional unit shown below, and temporarily stores Image data received from the camera 110 .

[0045] The central control unit 154 is composed of a central processing unit (CPU), a ROM recorded with programs, etc., and a semicondu...

no. 2 approach

[0079] In the first embodiment, the relative position of the specific object based on the image data is compared with the relative position of the specific object based on the GPS, and the absolute position of the own vehicle 1 based on the GPS is corrected by the difference (correction value), Then, the travel route is calculated from map data reflecting the corrected GPS-based absolute position of the host vehicle 1 , and a GPS-based travel route is used instead of the travel route based on image data.

[0080] However, there is no guarantee that the absolute position of the host vehicle 1 based on GPS can always be acquired, and, as described above, image data cannot always be acquired either. Therefore, in this embodiment, it is assumed that either an absolute position based on GPS or a relative position based on image data can be used, and it is used for predetermined controls such as the above-mentioned driving assistance control according to the environment outside the v...

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Abstract

A vehicle environment recognition apparatus includes: an image processing unit that acquires image data of captured detection area; a spatial position information generation unit that identifies relative positions of target portions in the detection area from the vehicle based on the image data; a specific object identification unit that identifies a specific object corresponding to the target portions based on the image data and the relative positions and stores the relative positions as image positions; a data position identification unit that identifies a data position, which is a relative position of the specific object from the vehicle, according to GPS-based absolute position of the vehicle and map data; a correction value derivation unit to derive a correction value which is a difference between the image position and the data position; and a position correction unit that corrects the GPS-based absolute position by the derived correction value.

Description

technical field [0001] The present invention relates to an external environment recognition device for recognizing an environment outside a vehicle, and more particularly to an external environment recognition device for correcting the absolute position of the vehicle based on GPS. Background technique [0002] Conventionally, map data that can refer to three-dimensional objects, roads, etc. as electronic data has been used in car navigation devices and the like. Furthermore, in order to improve the accuracy of such map data, technology has been disclosed that converts photo data taken by airplanes and the like into orthographic image data, extracts road network data on the ground surface, and integrates various information into the road network data. (eg Patent Document 1). Through related technologies, the terrain on the map can be represented with high precision. [0003] Therefore, the so-called ACC (Adaptive Cruise Control, Adaptive Cruise Control) is attracting atten...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62B60W30/095
CPCG01S19/13G01C21/3602G01S5/16G01S19/40G01S19/485
Inventor 樋渡穣
Owner SUBARU CORP
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