The invention provides a recognition device, a vehicle system, a recognition method, and a storage medium capable of improving the accuracy of determining a spray. A recognition device is provided with: an acquisition unit that acquires a first detection result from an optical radar that detects an object target present in the direction of travel of a vehicle, and that acquires a second detection result from a camera disposed so that the detection range overlaps the optical radar; and a recognition unit that recognizes an object target existing around the vehicle on the basis of the first detection result and the second detection result. A first condition indicating that there is a position within a predetermined distance from the vehicle is satisfied, and a second condition indicating that it is detected by the optical radar but not detected by the camera are satisfied. And an exclusion process for excluding object targets representing all of a third condition in which the width is equal to or less than a predetermined value and the detection duration is equal to or less than a predetermined time from the recognition results of object targets recognized as existing in the surroundings of the vehicle.
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。
Identification device, vehicle system, identification method, and storage medium
识别装置、车辆系统、识别方法以及存储介质
2022-10-04
Patent
Elektronische Ressource
Chinesisch
IPC: | G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06K Erkennen von Daten , RECOGNITION OF DATA |
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