EXTERNAL SENSING DEVICE FOR VEHICLE, METHOD OF CORRECTING AXIAL DEVIATION AND RECORDING MEDIUM

摘要

A driving support device has a lane marking recognition unit that recognizes at least two lane markings based on a taken image; a deviation angle calculation unit that calculates a deviation angle based on at least the two lane markings; an obstacle recognition unit that recognizes an obstacle position based on the taken image; a camera deviation angle correction unit that corrects the obstacle position recognized by the obstacle recognition unit by the deviation angle; a radar deviation angle correction unit that corrects the obstacle position detected by a radar by the deviation angle; and a driving support processing unit that executes a driving support process based on the corrected obstacle positions.

主权项

1. An external sensing device for a vehicle that corrects a deviation angle between an axial direction of an onboard camera and an obstacle detection sensor mounted in a vehicle to have a same axis and a traveling direction of the vehicle, comprising:
a lane marking recognition unit that recognizes at least two lane markings painted on a road based on a taken image in which the traveling direction of the vehicle is taken by the onboard camera; a deviation angle calculation unit that decides whether the vehicle is moving straight, and calculates the deviation angle based on at least the two lane markings recognized by the lane marking recognition unit when the vehicle is moving straight; and a deviation angle correction unit that corrects an obstacle position recognized based on the taken image and an obstacle position detected by the obstacle detection sensor by the deviation angle calculated by the deviation angle calculation unit.