US 12,190,603 B2
Vehicle traveling control apparatus
Hajime Oyama, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Mar. 23, 2022, as Appl. No. 17/702,451.
Claims priority of application No. 2021-061130 (JP), filed on Mar. 31, 2021.
Prior Publication US 2022/0319190 A1, Oct. 6, 2022
Int. Cl. G06V 20/58 (2022.01)
CPC G06V 20/58 (2022.01) [B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] 7 Claims
OG exemplary drawing
 
1. A vehicle traveling control apparatus to be applied to a vehicle, the vehicle traveling control apparatus comprising:
a stereo camera device configured to recognize a predetermined range of a front region of the vehicle as an image to acquire image data, and to acquire three-dimensional image information including distance information on a basis of the acquired image data;
a light detection and ranging device configured to acquire three-dimensional point cloud data including distance information for each of detection points, by scanning substantially a same range as a range recognized by the stereo camera device, of the front region of the vehicle;
a camera calibration unit configured to perform calibration of the stereo camera device, by performing a position shift correction process of correcting, for each of pixels, a position shift of the three-dimensional image information acquired by the stereo camera device, with respect to the three-dimensional point cloud data acquired by the light detection and ranging device; and
a storage memory configured to sequentially store correction data for each of the pixels, the correction data being generated when the camera calibration unit performs the position shift correction process,
wherein the camera calibration unit is configured to generate, on a basis of the correction data stored in the storage memory, a correction map corresponding to the range recognized by the stereo camera device.