Provided is a sensor recognition integration device capable of reducing the load of integration processing so as to satisfy the minimum necessary accuracy required for vehicle travel control, and capable of improving processing performance of an ECU and suppressing an increase in cost. A sensor recognition integration device B006 that integrates a plurality of pieces of object information related to an object around an own vehicle detected by a plurality of external recognition sensors includes: a prediction update unit 100 that generates predicted object information obtained by predicting an action of the object; an association unit 101 that calculates a relationship between the predicted object information and the plurality of pieces of object information; an integration processing mode determination unit 102 that switches an integration processing mode for determining a method of integrating the plurality of pieces of object information on the basis of a positional relationship between a specific region (for example, a boundary portion) in an overlapping region of detection regions of the plurality of external recognition sensors and the predicted object information; and an integration target information generation unit 104 that integrates the plurality of pieces of object information associated with the predicted object information on the basis of the integration processing mode.
SENSOR RECOGNITION INTEGRATION DEVICE
2023-07-13
Patent
Elektronische Ressource
Englisch
SENSOR DATA INTEGRATION DEVICE, SENSOR DATA INTEGRATION METHOD, AND SENSOR DATA INTEGRATION PROGRAM
Europäisches Patentamt | 2018
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