Automatic driving control device, vehicle, and automatic driving control method
A technology of automatic driving control and automatic driving, which is applied in the direction of non-electric variable control, motor vehicles, vehicle components, etc., and can solve the problems of difficult parking and high demand in parking spaces
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no. 1 approach
[0038] First, the first embodiment will be described. figure 1 It is a block diagram showing the structure of the vehicle of the first embodiment. likefigure 1 As shown, the vehicle 1 of the first embodiment includes an automatic driving control device 10 , an imaging device 102 , and a driving device 104 . The vehicle 1 is an automobile, and is a passenger car in the present embodiment, but is not limited thereto, and may be, for example, a commercial vehicle or the like. The vehicle 1 is driven by the drive device 104 to travel based on a driver's driving operation. Furthermore, the vehicle 1 automatically travels without the driver's driving operation by the control of the driving device 104 by the automatic driving control device 10 . The imaging device 102 is a camera mounted on the vehicle 1 and captures images of the surrounding environment of the vehicle 1 . The imaging device 102 is installed at the rear and both sides of the vehicle 1, but is not limited thereto, ...
no. 2 approach
[0096] The automatic driving control device 10a of the second embodiment is different from the first embodiment in that the automatic driving information registration unit 12a does not include the feature point selection unit 24 . In the second embodiment, descriptions of the same points of configuration as those of the first embodiment are omitted.
[0097] Figure 11 It is a schematic block diagram of the automatic driving information registration part of 2nd Embodiment. Such as Figure 11 As shown, the automatic driving information registration unit 12 a of the second embodiment has an image memory 20 , a candidate feature point extraction unit 22 , a candidate feature point memory 25 a, an automatic driving information generation unit 23 a, and an automatic driving information memory 30 .
[0098] The candidate feature point memory 25 a stores information on the candidate feature point F1 extracted by the candidate feature point extracting unit 22 (information on which poi...
no. 3 approach
[0103] Next, a third embodiment will be described. The automatic driving control device 10b of the third embodiment is different from the first embodiment in that the automatic driving information registration unit 12b does not have the priority feature point selection unit 28 . In the third embodiment, descriptions of the same points of configuration as those of the first embodiment are omitted.
[0104] Figure 12 It is a schematic block diagram of the automatic driving information registration part of 3rd Embodiment. Such as Figure 12 As shown, the automatic driving information registration unit 12b of the third embodiment includes an image memory 20, a candidate feature point extraction unit 22, an automatic driving information generation unit 23b, and an automatic driving information memory 30b.
[0105] The automatic driving information generating unit 23 b has a feature point selecting unit 24 , a feature point memory 25 , and a position estimating unit 26 . The fe...
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