| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate the shape of a road by image-picking up a circumferential road by an image pickup means, processing the image to extract an arbitrary object to be detected on the road, and calculating a three-dimensional spacial position based on the detected position and measured distance to the object. SOLUTION: The road shape estimating apparatus is applied to, for example, a following-up traveling apparatus. A camera 2 image-picks up the front of a vehicle, and outputs a video signal to an image processing controller 4. A laser radar 3 measures a distance to a preceding vehicle, and a vehicle speed sensor 7 detects a vehicle speed. An image processor 42 processes the image to detect the preceding vehicle. A road shape calculator 63 of a vehicle control controller 6 calculates a road gradient and a gradient change based on the preceding vehicle position and the distance between the two vehicles. A vehicle controller 64 controls a throttle actuator and brake actuator, and follows up the preceding vehicle while holding the distance between the vehicles at a predetermined value. An accurate three-dimensional space position of the preceding vehicle is obtained by obtaining the position of the preceding vehicle in a horizontal plane of the vehicle and measuring the distance to the preceding vehicle, thereby obtaining the gradient of the road. |
