Road surface shape estimating device
AssigneeDenso Corporation
InventorShinya Kojima
Life of this patent
Estimating the term…
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.
Claims14
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 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.
A vehicle control system, comprising:
- 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 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.
A road surface shape estimating method, comprising:
- 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 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.
Dependencies are inferred from the claim text.