To appropriately recognize an object.SOLUTION: An object recognition system 1 comprises an ECU 10, a distance measuring sensor 20 and an imaging device 30. The distance measuring sensor 20 emits an emitted wave toward the periphery of a vehicle 50, and finds a focus point by receiving a reflection wave from an object for the emitted wave. The imaging device 30 is installed in the vehicle 50 so that a distance measuring range due to the distance measuring sensor 20 overlaps with an imaging range, and generates an image of the imaging range. The ECU 10 determines that two focus points belong to the same object, when a three-dimensional point-to-point distance between the two focus points selected as determination objects is smaller than a threshold value which is a predetermined distance as a reference, among the plurality of focus points obtained from the distance measuring sensor 20. Moreover, the ECU 10 makes a determination by setting the threshold value based on the image generated by the imaging device 30, when an emitting direction corresponding to the emitted wave which cannot detect the reflection wave exists between the two focus points.SELECTED DRAWING: Figure 1
【課題】物体を適切に認識する。【解決手段】物体認識システム1は、ECU10と測距センサ20と撮像装置30とを備える。測距センサ20は、車両50の周囲に出射波を出射し、当該出射波に対する物体からの反射波を受波して測距点を求める。撮像装置30は、測距センサ20による測距範囲と撮像範囲とが重複するように車両50に設置され、その撮像範囲の画像を生成する。ECU10は、測距センサ20から得られた複数の測距点のうち、判定対象として選択された2つの測距点の三次元点間距離が予め定められた所定の距離である閾値を基準として小さい場合に、その2つの測距点が同一物体に属すると判定する。また、ECU10は、反射波を検出できない出射波に対応する出射方向が2つの測距点間に存在する場合には、撮像装置30により生成された画像に基づいてその閾値を設定して判定を行う。【選択図】図1
OBJECT RECOGNITION METHOD AND OBJECT RECOGNITION SYSTEM
物体認識方法及び物体認識システム
2022-01-13
Patent
Elektronische Ressource
Japanisch
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