Title:
TRAVELING CONTROL APPARATUS OF MOVING VEHICLE
Document Type and Number:
WIPO Patent Application WO/2017/204009
Kind Code:
A1
Abstract:
The present invention is provided with: a target area setting unit 22 that sets a target area within a captured image ahead of a vehicle; a template image generation unit 23 that generates, from an image of the target area, a plurality of template images different in magnification; a yaw angle detection unit 25 that detects a matching area, in the captured image, which matches the template image at the highest matching degree, and detects the yaw angle of the vehicle on the basis of a difference between the position of the matching area and the position of the moving vehicle in a front direction; and a steering control unit 26 that controls the steering of the vehicle on the basis of the detected yaw angle. Traveling is controlled by utilizing the image of the target area set ahead of the vehicle. Even when the size of an object shown in the captured image is gradually increased as the vehicle advances, high-accuracy matching is maintained with the template image at any magnification, and the vehicle can be caused to travel linearly and accurately.
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Inventors:
HANAWA KEIJI (JP)
HAYASHIDA JUNICHI (JP)
HAYASHIDA JUNICHI (JP)
Application Number:
PCT/JP2017/018146
Publication Date:
November 30, 2017
Filing Date:
May 15, 2017
Export Citation:
Assignee:
NAT AGRICULTURE & FOOD RES ORG (JP)
MITSUBISHI MAHINDRA AGRICULTURAL MACHINERY CO LTD (JP)
MITSUBISHI MAHINDRA AGRICULTURAL MACHINERY CO LTD (JP)
International Classes:
G05D1/02; A01B69/00; B62D6/00; G06T7/00; B62D137/00
Foreign References:
| JP2009153432A | 2009-07-16 | |||
| JP2010200674A | 2010-09-16 | |||
| JPH0257109A | 1990-02-26 | |||
| JP2013201958A | 2013-10-07 | |||
| US4769700A | 1988-09-06 |
Attorney, Agent or Firm:
TACHIBANA Kazuyuki (JP)
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