JP6816389B2 - 周辺監視装置 - Google Patents
周辺監視装置 Download PDFInfo
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- JP6816389B2 JP6816389B2 JP2016129636A JP2016129636A JP6816389B2 JP 6816389 B2 JP6816389 B2 JP 6816389B2 JP 2016129636 A JP2016129636 A JP 2016129636A JP 2016129636 A JP2016129636 A JP 2016129636A JP 6816389 B2 JP6816389 B2 JP 6816389B2
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- Engineering & Computer Science (AREA)
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- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Description
Claims (8)
- 車両の進行方向における路面の状態を示す状態情報に基づいて、前記路面上の勾配位置を取得する勾配位置取得部と、
前記勾配位置における前記路面の勾配値を取得する勾配値取得部と、
前記勾配位置における勾配が、上り勾配か下り勾配か識別する勾配識別部と、
前記勾配値と前記車両が通過可能な基準勾配値とを比較し、その比較結果を前記勾配位置と関連付けて報知する報知制御部と、
を備え、
前記報知制御部は、
前記勾配が前記上り勾配の場合は、上り勾配の前記基準勾配値である基準上り勾配値としての前輪の接地点からフロントバンパの前端までの角度を示すアプローチアングルと、前記勾配値と、を比較し、
前記勾配が前記下り勾配の場合は、下り勾配の前記基準勾配値である基準下り勾配値としての前輪と後輪の接地点から伸びる直線をホイールベース中心の車体底部で交差させたときに交差する直線の上下方向の角度を示すランプブレークオーバーアングルと、前記勾配値と、を比較する、周辺監視装置。 - 前記勾配値取得部は、前記勾配値として、前記車両が存在する路面を基準として当該車両の前方の路面の相対的な傾きを取得する請求項1に記載の周辺監視装置。
- 前記勾配値取得部は、前記勾配値として、水平に対する傾きを取得する請求項1に記載の周辺監視装置。
- 前記報知制御部は、前記車両を基準に前記勾配位置を報知する請求項1から請求項3のいずれか1項に記載の周辺監視装置。
- 前記報知制御部は、前記車両の周辺状況を撮像する撮像部から出力された撮像画像データに基づく画像を表示する表示装置に前記勾配位置と前記車両との相対位置関係を表示する請求項1から請求項4のいずれか1項に記載の周辺監視装置。
- 前記報知制御部は、前記撮像画像データに基づく画像に画像処理を加えて前記表示装置に前記比較結果を表示させる請求項5に記載の周辺監視装置。
- 前記撮像画像データに基づく画像に、前記車両の舵角に基づく車輪の進行推定方向を示す進路指標を重畳する画像処理部をさらに含み、
前記報知制御部は、前記進路指標上に前記勾配位置が存在する場合に前記比較結果を前記進路指標とともに前記表示装置に表示させる請求項5または請求項6に記載の周辺監視装置。 - 前記報知制御部は、前記比較結果に基づき報知すべき勾配が検出された場合、前記勾配の状態に応じて、前記進路指標の少なくとも一部の表示態様を変更する請求項7に記載の周辺監視装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016129636A JP6816389B2 (ja) | 2016-06-30 | 2016-06-30 | 周辺監視装置 |
CN201780038079.9A CN109313860B (zh) | 2016-06-30 | 2017-03-14 | 周边监控装置 |
DE112017003305.5T DE112017003305B4 (de) | 2016-06-30 | 2017-03-14 | Peripherieüberwachungsvorrichtung |
PCT/JP2017/010281 WO2018003194A1 (ja) | 2016-06-30 | 2017-03-14 | 周辺監視装置 |
US16/313,320 US10878253B2 (en) | 2016-06-30 | 2017-03-14 | Periphery monitoring device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016129636A JP6816389B2 (ja) | 2016-06-30 | 2016-06-30 | 周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018005437A JP2018005437A (ja) | 2018-01-11 |
JP6816389B2 true JP6816389B2 (ja) | 2021-01-20 |
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Application Number | Title | Priority Date | Filing Date |
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JP2016129636A Active JP6816389B2 (ja) | 2016-06-30 | 2016-06-30 | 周辺監視装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10878253B2 (ja) |
JP (1) | JP6816389B2 (ja) |
CN (1) | CN109313860B (ja) |
DE (1) | DE112017003305B4 (ja) |
WO (1) | WO2018003194A1 (ja) |
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JP6540482B2 (ja) * | 2015-12-04 | 2019-07-10 | 株式会社デンソー | 情報処理システム、情報処理装置及び出力制御方法 |
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KR101954199B1 (ko) * | 2016-12-09 | 2019-05-17 | 엘지전자 주식회사 | 차량용 어라운드 뷰 모니터링 장치, 운행 제어 장치 및 차량 |
JP6696939B2 (ja) * | 2017-07-04 | 2020-05-20 | トヨタ自動車株式会社 | 周辺画像表示制御装置 |
US10509127B2 (en) | 2017-12-13 | 2019-12-17 | Luminar Technologies, Inc. | Controlling vehicle sensors based on road configuration |
JP7163729B2 (ja) * | 2018-11-08 | 2022-11-01 | トヨタ自動車株式会社 | 車両制御装置 |
JP7147546B2 (ja) * | 2018-12-25 | 2022-10-05 | トヨタ自動車株式会社 | 車両のスリップ角推定装置 |
CN110322711B (zh) * | 2019-08-01 | 2021-01-26 | 浙江高速信息工程技术有限公司 | 一种高速公路事故预警*** |
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CN105206112B (zh) * | 2015-09-21 | 2018-03-13 | 芜湖市汽车产业技术研究院有限公司 | 一种用于汽车车队侦测前方道路坡度的检测*** |
JP6384521B2 (ja) * | 2016-06-10 | 2018-09-05 | トヨタ自動車株式会社 | 車両の運転支援装置 |
JP6528213B2 (ja) * | 2016-11-08 | 2019-06-12 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
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