Road surface detection device and road surface detection program
A road surface detection and plane technology, which can be used in measurement devices, optical devices, cross-sectional drawing, etc., to solve problems such as the deterioration of road detection accuracy
Pending Publication Date: 2021-07-23
AISIN CORP
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Problems solved by technology
There is a problem that if the imaging unit shakes, an actually flat road surface will be detected as a road surface with unevenness on the captured image data, deteriorating the accuracy of road surface detection.
Method used
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Embodiment approach
[0025] use Figure 1-Figure 10 The configuration of the embodiment will be described.
[0026] vehicle structure
[0027] figure 1 It is a perspective view showing an example in which a portion of a cabin 2 a of a vehicle 1 equipped with the road surface detection device according to the embodiment is seen through. figure 2 It is a plan view showing an example of a vehicle 1 equipped with the road surface detection device of the embodiment.
[0028] The vehicle 1 of the embodiment may be, for example, an automobile that uses an internal combustion engine not shown as a drive source, that is, an internal combustion locomotive, or an automobile that uses an electric motor that is not shown as a drive source, that is, an electric vehicle or a fuel cell vehicle, or the like. The hybrid vehicle in which both of the above-mentioned drive sources are used may be a vehicle having another drive source. In addition, the vehicle 1 may be equipped with various transmission devices, a...
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This road surface detection device according to the present invention is provided with: an image acquisition unit that acquires captured image data outputted from a stereo camera which captures an imaging region including the road surface on which a vehicle travels; a three-dimensional model generation unit that generates, on the basis of the captured image data, a three-dimensional model of the imaging region including the surface shape of the road surface from the viewpoint of the stereo camera; and a correction unit that deduces a plane from the three-dimensional model, and corrects the three-dimensional model such that the normal vector direction of the plane and the height position of the plane with respect to the stereo camera respectively match the correct value of the normal vector direction of the road surface and the correct value of the height position of the road surface with respect to the stereo camera.
Description
technical field [0001] Embodiments of the present invention relate to a road surface detection device and a road surface detection program. Background technique [0002] Conventionally, there is known a technique that detects, for example, the height position of the road surface relative to the imaging unit, that is, the state of the road surface, based on captured image data output from an imaging unit such as a stereo camera that captures an imaging area including the road surface on which the vehicle travels. [0003] Patent Document 1: Japanese Patent No. 6209648 Contents of the invention [0004] In the prior art as described above, the shake of the imaging unit accompanying the shake of the vehicle is not taken into consideration. If the imaging unit shakes, a road surface that is actually flat is detected as a road surface with unevenness on the captured image data, deteriorating the accuracy of road surface detection. [0005] As an example, a road surface detect...
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IPC IPC(8): B60W40/06G01B11/245G01C7/04G06T7/00H04N7/18
CPCB60W40/06G01B11/245G01C7/04G06T7/593G06T2207/30256G06T17/00G06T2207/10028H04N7/188G06T19/20G06T2219/2016B60W2420/403G06T5/70H04N13/221H04N13/111G06V20/653G06V20/588H04N23/683
Inventor 荻野淳人桥本介诚
Owner AISIN CORP