Road surface shape estimating device
First Claim
Patent Images
1. A road surface shape estimating device, comprising:
- a target detecting unit that detects a known target from a captured image capturing an area ahead of a vehicle, the known target being a three-dimensional target of which a size and positional relationship to a road surface is known;
a coordinate calculating unit that determines three-dimensional coordinates for each known target from a size and position in the captured image of the known target detected by the target detecting unit; and
an estimating unit that estimates a road surface shape using the three-dimensional coordinates calculated by the coordinate calculating unit.
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Abstract
A road surface shape estimating device includes a target detecting unit, a coordinate calculating unit and an estimating unit. The target detecting unit detects a known target from a captured image capturing an area ahead of a vehicle. The known target is a target of which a size and positional relationship to a road surface is known. The coordinate calculating unit determines three-dimensional coordinates for each known target from a size and position in the captured image of the known target detected by the target detecting unit. The estimating unit estimates a road surface shape using the three-dimensional coordinates calculated by the coordinate calculating unit.
47 Citations
20 Claims
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1. A road surface shape estimating device, comprising:
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a target detecting unit that detects a known target from a captured image capturing an area ahead of a vehicle, the known target being a three-dimensional target of which a size and positional relationship to a road surface is known; a coordinate calculating unit that determines three-dimensional coordinates for each known target from a size and position in the captured image of the known target detected by the target detecting unit; and an estimating unit that estimates a road surface shape using the three-dimensional coordinates calculated by the coordinate calculating unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 19)
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13. A vehicle control system, comprising:
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a camera that captures an area ahead of a vehicle to produce a captured image; a target detecting section that detects a target from the captured image to produce target information related to the detected target; and a vehicle control executing section that performs a vehicle control based on the target information, the target detecting section including a road surface shape estimating device comprising; a target detecting unit that detects a known target from the captured image, the known target being a three-dimensional target of which a size and positional relationship to a road surface is known; a coordinate calculating unit that determines three-dimensional coordinates for each known target from a size and position in the captured image of the known target detected by the target detecting unit; and an estimating unit that estimates a road surface shape using the three-dimensional coordinates calculated by the coordinate calculating unit. - View Dependent Claims (20)
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14. A road surface shape estimating method, comprising:
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detecting, using a target detecting unit, a known target from a captured image capturing an area ahead of a vehicle, the known target being a three-dimensional target of which a size and positional relationship to a road surface is known; determining, at a coordinate calculating unit, three-dimensional coordinates for each known target from a size and position in the captured image of the known target detected by the target detecting unit; and estimating, at an estimating unit, a road surface shape using the three-dimensional coordinates calculated by the coordinate calculating unit.
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15. A road surface shape estimating device comprising:
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a target detecting unit detecting a known target from a captured image capturing an area ahead of a vehicle, the known target being a three-dimensional target of which a size and positional relationship to a road surface is known; a coordinate calculating unit determining three-dimensional coordinates for each known target from a size and position in the captured image of the known target detected by the target detecting unit; and an estimating unit estimating a road surface position and a road surface shape, wherein the road surface position is estimated for each known target detected by the target detecting unit using the three-dimensional coordinates calculated by the coordinate calculating unit and the positional relationship between the known target and the road surface, and the road surface shape is estimated based on the estimated road surface position. - View Dependent Claims (16, 17, 18)
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Specification