VEHICLE STEERING CONTROLLER
First Claim
1. A vehicle steering controlling apparatus comprising:
- a camera that captures an image of a view in a direction in which a vehicle is driving;
a shape recognizer configured to recognize a shape of a road along which the vehicle is driving by performing a first approximation that is an approximation using a monomial or a polynomial having a degree of one or two, using the image captured by the camera;
a steering controller configured to control steering of the vehicle on the basis of the shape of the road recognized by the shape recognizer; and
a determiner configured to make a determination whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road and a linear road,wherein, in a case where the determination made by the determiner is affirmative, the shape recognizer recognizes the shape of the road by performing a second approximation that is an approximation using a monomial or a polynomial having a degree of three or higher.
1 Assignment
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Accused Products
Abstract
A vehicle steering controller includes a shape recognizer that recognizes a shape of a road on the basis of a captured image, a steering control unit that controls steering of a vehicle on the basis of the shape of the road recognized by the shape recognizer, and a determiner that determines whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road section and a linear road section. If the determination made by the determiner is negative, then the shape recognizer recognizes the shape of the road by performing an approximation using an approximation expression having a degree of one or two, otherwise the shape recognizer recognizes the shape of the road by performing an approximation using an approximation expression having a degree of three.
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Citations
8 Claims
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1. A vehicle steering controlling apparatus comprising:
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a camera that captures an image of a view in a direction in which a vehicle is driving; a shape recognizer configured to recognize a shape of a road along which the vehicle is driving by performing a first approximation that is an approximation using a monomial or a polynomial having a degree of one or two, using the image captured by the camera; a steering controller configured to control steering of the vehicle on the basis of the shape of the road recognized by the shape recognizer; and a determiner configured to make a determination whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road and a linear road, wherein, in a case where the determination made by the determiner is affirmative, the shape recognizer recognizes the shape of the road by performing a second approximation that is an approximation using a monomial or a polynomial having a degree of three or higher. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A vehicle steering controlling method comprising:
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acquiring an image of a view in a direction in which a vehicle is driving; recognizing, by using a computer, a shape of a road along which the vehicle is driving by performing a first approximation that is an approximation using a monomial or a polynomial having a degree of one or two, using the captured image; making a determination, by using a computer, whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road and a linear road, in a case where the determination is affirmative, recognizing, by using a computer, the shape of the road by performing a second approximation that is an approximation using a monomial or a polynomial having a degree of three or higher; and controlling steering of the vehicle on the basis of the shape of the recognized road.
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8. A non-transitory computer-readable storage medium with an executable program stored thereon, wherein the program instructs a computer to perform steps comprising:
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acquiring an image of a view in a direction in which a vehicle is driving; recognizing a shape of a road along which the vehicle is driving by performing a first approximation that is an approximation using a monomial or a polynomial having a degree of one or two, using the captured image; making a determination whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road and a linear road, in a case where the determination is affirmative, recognizing the shape of the road by performing a second approximation that is an approximation using a monomial or a polynomial having a degree of three or higher; and controlling steering of the vehicle on the basis of the shape of the recognized road.
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Specification