This outside world recognition device is provided with: a road surface height estimation unit that estimates the height of a road surface on which an object is located on a captured image captured by a monocular camera provided in a vehicle; a road surface height reliability estimation unit that calculates the reliability of the height of the road surface estimated by the road surface height estimation unit; and an object distance information estimation unit that estimates the distance to the object on the basis of the reliability calculated by the road surface height reliability estimation unit. The road surface height reliability estimation unit calculates the reliability on the basis of the determination result of whether or not the road surface is the same as the ground contact surface of the vehicle.
本发明的外界识别装置具备:路面高度推断部,其推断由车辆上设置的单目摄像机拍摄到的摄影图像上的物体所处的路面的高度;路面高度可靠度推断部,其算出由所述路面高度推断部推断出的所述路面的高度的可靠度;以及物体距离信息推断部,其根据由所述路面高度可靠度推断部算出的所述可靠度来推断到所述物体的距离;所述路面高度可靠度推断部根据所述路面是否与所述车辆的触地面相同这一判别结果来算出所述可靠度。
EXTERNAL IDENTIFICATION DEVICE
外界识别装置
2024-06-21
Patent
Electronic Resource
Chinese
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