Running-environment recognition apparatus
First Claim
Patent Images
1. A running-environment recognition apparatus comprising:
- an information recognition section mounted in a vehicle and configured to recognize an information of at least a frontward region of the vehicle relative to a traveling direction of the vehicle; and
a road-surface calculating section configuredto calculate a road surface of a traveling road and a portion lower than the road surface in the frontward region of the vehicle, from the information recognized by the information recognition section, the information comprising a plurality of first visually-characteristic points existing in the road surface and a plurality of second visually-characteristic points existing in the portion lower than the road surface, andto recognize a boundary portion between the plurality of first visually-characteristic points and the plurality of second visually-characteristic points as a boundary portion between the road surface and the portion lower than the surface,wherein the recognized boundary portion is an end of the traveling road.
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Abstract
A running-environment recognition apparatus includes an information recognition section mounted in a vehicle and configured to recognize an information of at least a frontward region of the vehicle relative to a traveling direction of the vehicle; and a road-surface calculating section configured to calculate a road surface of a traveling road and a portion lower than the road surface in the frontward region of the vehicle, from the information recognized by the information recognition section.
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Citations
25 Claims
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1. A running-environment recognition apparatus comprising:
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an information recognition section mounted in a vehicle and configured to recognize an information of at least a frontward region of the vehicle relative to a traveling direction of the vehicle; and a road-surface calculating section configured to calculate a road surface of a traveling road and a portion lower than the road surface in the frontward region of the vehicle, from the information recognized by the information recognition section, the information comprising a plurality of first visually-characteristic points existing in the road surface and a plurality of second visually-characteristic points existing in the portion lower than the road surface, and to recognize a boundary portion between the plurality of first visually-characteristic points and the plurality of second visually-characteristic points as a boundary portion between the road surface and the portion lower than the surface, wherein the recognized boundary portion is an end of the traveling road. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 21, 22, 23, 24, 25)
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12. A running-environment recognition apparatus comprising:
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a camera mounted in a vehicle and configured to recognize an environment of a frontward region of the vehicle relative to a traveling direction of the vehicle; and a road-surface calculating section configured to calculate a boundary portion between a road surface of a traveling road and a portion lower than the road surface around the traveling road, as an end of the traveling road, based on distance data obtained in relation to a distance to each object existing in the frontward region of the vehicle from the environment recognized by the camera, the distance data comprising a plurality of first visually-characteristic points existing in the road surface and a plurality of second visually-characteristic points existing in the portion lower than the road surface, and to recognize a boundary portion between the plurality of the first visually-characteristic points and the plurality of second visually-characteristic points as the boundary portion between the road surface and the portion lower than the road surface. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A running-environment recognition apparatus comprising:
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a stereo camera including a plurality of cameras mounted in a vehicle and configured to obtain an image information including a road surface of a traveling road existing in a frontward region of the vehicle relative to a traveling direction of the vehicle, wherein the stereo camera is configured to measure a distance in the image information by means of a parallax that is caused when the plurality of cameras take respective images of an identical object; and a road-surface calculating section configured to recognize a first area that is the road surface of the traveling road and a second area that is a portion lower than the road surface around the traveling road, by use of the distance information measured by the stereo camera, the distance information comprising a plurality of first visually-characteristic points existing in the first area and a plurality of second visually-characteristic points existing in the second area, wherein the road-surface calculating section is configured to recognize a boundary portion between the plurality of first visually-characteristic points and the plurality of second visually-characteristic points as the boundary portion between the first and second areas, wherein the recognized boundary portion is an end of the traveling road.
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Specification