To provide an external environment recognition device with which it is possible to correctly detect a three-dimensional object around the host vehicle, even when images imaged by a collimating-misaligned camera are used.SOLUTION: The external environment recognition device comprises: a sensor unit for detecting the surrounding of a vehicle; a three-dimensional object detection unit for detecting a three-dimensional object candidate on the basis of the external environment information acquired from the sensor unit; a reliability calculation unit for assessing, using a reliability calculation model, the possibility of the three-dimensional object candidate detected on the basis of the external environment information newly acquired from the sensor being an erroneously detected three-dimensional object; a three-dimensional object tracking unit for tracking a three-dimensional object candidate along with the progression of the host vehicle and continuing detection; an erroneously detected three-dimensional object assessment unit for assessing whether or not the three-dimensional object being tracked is erroneously detected, on the basis of the detection result of tracking; and an erroneously detected three-dimensional object storage unit which, when it is assessed by the erroneously detected three-dimensional object assessment unit that the three-dimensional object candidate is erroneously detected, stores at least a portion of external environment information regarding the three-dimensional object candidate having been tracked until the three-dimensional object candidate is assessed as being erroneously detected.SELECTED DRAWING: Figure 2
【課題】平行化ずれのあるカメラの撮像画像を使用した場合であっても、自車周囲の立体物を正しく検知できる外界認識装置を提供する。【解決手段】外界認識装置は、車両周辺を検知するセンサ部と、センサ部から取得した外界情報に基づいて立体物候補を検知する立体物検知部と、信頼度算出モデルを用いて、新たにセンサから取得した外界情報に基づいて検知した立体物候補が誤検知立体物である可能性を判定する信頼度算出部と、自車両の進行に伴い立体物候補を追跡して検知を続ける立体物追跡部と、追跡の検知結果に基づいて追跡している立体物候補が誤検知か否かを判定する誤検知立体物判定部と、誤検知立体物判定部によって立体物候補が誤検知であると判定された場合に、当該立体物候補が誤検知と判定されるまでに追跡されていたときの当該立体物候補に関する外界情報の少なくとも一部を記憶する誤検知立体物記憶部と、を備える。【選択図】図2
EXTERNAL ENVIRONMENT RECOGNITION DEVICE AND EXTERNAL ENVIRONMENT RECOGNITION SYSTEM
外界認識装置、および、外界認識システム
10.11.2022
Patent
Elektronische Ressource
Japanisch
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