| 摘要 |
A driving support device includes: a maximum measurement range determination means adapted to calculate a distance to a plurality of points on a surface of an object present at surroundings of a vehicle by using a distance sensor such as a laser range finder or a stereo camera that measures a distance in order to estimate bias of an acceleration sensor with high accuracy upon correction of the bias by use of the distance sensor such as the stereo camera or the LRF in a GPS non-receiving section, and to define a measurement range in which a resolution of the measurement by the distance sensor becomes equal to or larger than predetermined accuracy; a feature point detection means adapted to obtain a feature point based on a point within the maximum measurement range at which the measurement is made; and a sensor parameter estimation means adapted to estimate a parameter of the acceleration sensor based on a behavior of an own vehicle obtained from a vehicle translation and rotation angle calculation means adapted to count backwards the vehicle behavior based on distance variation and also based on a measurement value of the acceleration sensor. |
