PROBLEM TO BE SOLVED: To appropriately identify a three-dimensional object irrespective of the mode of appearance of three-dimensional points indicating the surface shape of the object.SOLUTION: An out-of-vehicle environment recognizing device is equipped with a three-dimensional points acquiring unit that acquires three-dimensional points indicating the surface shape of a three-dimensional object; a Hough transforming unit that subjects to Hough transformation expanded three-dimensional points 186, which are three-dimensional points having in their expanded range represented by a circle having a prescribed radius around three-dimensional points 182, which represent the surface shape of an identification object extending substantially in parallel to the traveling direction of a vehicle out of the acquired three-dimensional points; and an identification object identifying unit that identifies a three-dimensional object having a straight line 196 on which r-θ takes on the largest cumulative value in Hough transformation.SELECTED DRAWING: Figure 11
【課題】立体物の表面形状を示す三次元点の出現態様に拘わらず、その立体物を適切に特定する。【解決手段】車外環境認識装置は、立体物の表面形状を示す三次元点を取得する三次元点取得部と、取得した三次元点のうち、車両の進行方向に略平行に延在する特定物の表面形状を示す三次元点182を中心に、所定半径の円で示される拡大範囲内に配した三次元点である拡大三次元点186を対象としてハフ変換を行うハフ変換部と、ハフ変換においてr-θ累積配列の値が最大となる直線196を有する立体物を特定物として特定する特定物特定部と、を備える。【選択図】図11
OUT-OF-VEHICLE ENVIRONMENT RECOGNIZING DEVICE
車外環境認識装置
2017-01-05
Patent
Elektronische Ressource
Japanisch
External environment recognizing device for vehicle and vehicle behavior control device
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