| CPC G01C 21/3811 (2020.08) [G01C 21/3837 (2020.08)] | 13 Claims |
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1. A vehicle control system comprising:
a camera configured to capture a situation around a subject vehicle at a predetermined frame rate;
an actuator for traveling; and
a microprocessor and a memory coupled to the microprocessor, wherein
the microprocessor is configured to perform:
extracting a plurality of feature points from an image captured by the camera;
selecting, from the plurality of feature points, a feature point corresponding to an object whose priority is equal to or higher than a predetermined degree as a target feature point for which a three-dimensional position is to be calculated, based on priority information set for each of a plurality of objects in advance, wherein the target feature point is selected from each image of a plurality of frames acquired by the camera;
tracking the target feature point across the plurality of frames based on a position and posture of the camera;
calculating the three-dimensional position of the target feature point using the position and posture of the camara such that the target feature point corresponding to each of the plurality of frames converges to a single point;
generating a map including information of the three-dimensional position of the target feature point; and
controlling the actuator so that the subject vehicle travels along a target trajectory generated based on the map, wherein
when a plurality of feature points each corresponding to one of one or more objects whose priority is equal to or higher than the predetermined degree are present, the selecting includes selecting a plurality of the target feature points corresponding to the plurality of the feature points each corresponding to the one or more objects, the calculating includes calculating three-dimensional positions of the plurality of the target feature points, and the generating includes generating the map including information on the three-dimensional positions of the plurality of the target feature points,
the objects include moving objects and stationary objects, and
in the priority information, the priority is set higher for the moving objects and the stationary objects that are less likely to change over time.
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