A processor of an identification system for identifying, in a host vehicle, a target moving body capable of moving in a scanning space scanned by irradiation light of a scanning device is configured to execute the steps of: acquiring scan data (Ds) including a rear point cloud (Pb); the rear point cloud is a scanning point cloud located further toward the inner side than the reflector (Or) in a scanning direction (psi s) in which the reflector (Or) is scanned in a gaze range in which the reflection characteristics with respect to the irradiation light are on the high reflection side; and generating identification data (Dr) by removing a rear point cloud (Pb), which is a scanning point cloud of a real image in which the virtual image (Iv) appears further toward the rear side than the reflector (Or), from a rear point cloud (Pb) to be identified as the target moving body in the scanning data (Ds), said rear point cloud having a symmetric point cloud in a symmetric region symmetric to the rear side position with respect to the reflector (Or).
在主机车辆识别能够在由扫描设备的照射光扫描了的扫描空间中移动的目标移动体的识别系统的处理器被构成为执行如下步骤:取得包含里侧点云(Pb)的扫描数据(Ds),该里侧点云是在扫描了对于照射光的反射特性在高反射侧的注视范围内的反射体(Or)的扫描方向(ψs)上,比反射体(Or)靠里侧位置的扫描点云;以及从在扫描数据(Ds)中作为目标移动体的识别对象的里侧点云(Pb),除去作为使虚像(Iv)出现在比反射体(Or)靠里侧位置的实像的扫描点云在关于反射体(Or)与该里侧位置对称的对称区域存在对称点云的里侧点云(Pb),而生成识别数据(Dr)。
Identification system, identification device, identification method, identification program, and identification data generation method
识别系统、识别装置、识别方法、识别程序、识别数据生成方法
29.10.2024
Patent
Elektronische Ressource
Chinesisch
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