PROBLEM TO BE SOLVED: To provide an object recognition device that reduces a risk of misrecognition on an object by improving recognition precision for the object, according to the present invention.SOLUTION: An object recognition device 4 according to the present invention comprises: a data reception part 5 which generates and outputs observation data for each sensor according to detection data on an object in the circumference of an automobile from a plurality of sensors 1, 2; a correlation processing part 6 which finds correlation data showing correspondence relation between the observation data and the object data in a last processing period on the basis of a correlation reference value, and outputs the observation data and the correlation data; and an update processing part 7 which updates a status vector included in the object data in the last processing period on the basis of the correlation data, also updates the latest correlation data as observation data corresponding to the latest one of the observation data by including it in the object data for each sensor, and outputs the updated object data. The correlation processing part 6 finds the correlation reference value preferentially using the latest correlation data of the same sensor with the observation data in the current processing period.SELECTED DRAWING: Figure 1
【課題】 この発明は、物体の認識精度を向上させて、物体を誤認識してしまうリスクを低減する物体認識装置の提供を目的とする。【解決手段】 本発明に係る物体認識装置4は、複数のセンサ1、2からの自車周辺物体の検出データに応じて、センサごとの観測データを作成、出力するデータ受信部5と、この観測データと前回処理周期における物体データとの対応関係を示す相関データを、相関基準値に基づいて求め、観測データと相関データとを出力する相関処理部6と、前回処理周期における物体データに含まれる状態ベクトルを相関データに基づいて更新すると共に、観測データのうち最新に対応した観測データとなる最新相関データをセンサごとに物体データに含めて更新し、更新された物体データを出力する更新処理部7とを備え、相関処理部6は、今回処理周期における観測データと同じセンサの最新相関データを優先的に用いて、相関基準値を求めるものである。【選択図】 図1
OBJECT RECOGNITION DEVICE, OBJECT RECOGNITION METHOD AND AUTOMATIC DRIVING SYSTEM
物体認識装置、物体認識方法および自動運転システム
2017-12-28
Patent
Elektronische Ressource
Japanisch
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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