本发明提供能够提高水花的判定精度的识别装置、车辆系统、识别方法以及存储介质。一种识别装置具备:取得部,其从对存在于车辆的行进方向的物体目标进行检测的光学雷达取得第一检测结果,并且从以使检测范围与光学雷达重叠的方式配置的相机取得第二检测结果;以及识别部,其基于第一检测结果以及第二检测结果,来识别存在于车辆的周围的物体目标,识别部执行将满足表示存在于距车辆规定距离以内的位置的第一条件、表示由光学雷达检测出且未由相机检测出的第二条件、以及表示宽度为规定值以下且检测持续时间为规定时间以下的第三条件的全部条件的物体目标从被识别为存在于车辆的周围的物体目标的识别结果中排除的排除处理。
A recognition device includes an acquisition unit configured to acquire a first detection result from a LIDAR that detects a target present in a traveling direction of a vehicle and to acquire a second detection result from a camera disposed so that the detection range overlaps that of the LIDAR, and a recognition unit configured to recognize a target present around the vehicle on the basis of the first detection result and the second detection result, in which the recognition unit executes exclusion processing of excluding a target, that satisfies all of a first condition indicating that a target is present within a predetermined distance from the vehicle, a second condition indicating that a target is detected by the LIDAR and is not detected by the camera, and a third condition indicating that a width of a target is equal to or less than a predetermined value and a detection duration thereof is equal to or less than a predetermined time, from a result of recognition recognized as a target present around the vehicle.
识别装置、车辆系统、识别方法以及存储介质
2024-07-19
Patent
Elektronische Ressource
Chinesisch