PROBLEM TO BE SOLVED: To provide a vehicle control device and a vehicle control method capable of appropriately calculating a position of an object when calculating a position of an object by using detection information of an electromagnetic wave sensor and an image sensor together.SOLUTION: An ECU 20 is comprised of: an acquisition unit 21 that acquires a first position and a second position; an object determination unit 23 which determines that an object is the same object on the basis of respective positions acquired by the acquisition unit 21; a position calculating unit 24 for calculating a position of the object determined as the same object; and a reliability determining unit 25 for determining whether reliability of the same determination by the object determining unit 23 is under such a level higher than a predetermined level. The position calculating unit 24 calculates a position of the object on the basis of a first distance and a second azimuth when it is determined that reliability is equal to or higher than the predetermined level, and when it is determined that reliability is not equal to or higher than the predetermined level, calculates a position of the object on the basis of a second distance and a second azimuth.SELECTED DRAWING: Figure 1
【課題】電磁波センサ及び画像センサの検出情報を併用して物体の位置を算出する場合に、この物体の位置を適正に算出することができる車両制御装置、及び車両制御方法を提供することを目的とする。【解決手段】ECU20は、第1位置、及び第2位置を取得する取得部21と、取得部21が取得した各位置に基づいて、物体が同一物体であることを判定する物体判定部23と、同一物体と判定された物体の位置を算出する位置算出部24と、物体判定部23による同一判定の信頼性が所定レベル以上となる状況下であるか否かを判定する信頼性判定部25と、を備えている。位置算出部24は、信頼性が所定レベル以上となる状況下であると判定された場合に、第1距離と第2方位とに基づいて物体の位置を算出し、信頼性が所定レベル以上となる状況下でないと判定された場合に、第2距離と第2方位とに基づいて前記物体の位置を算出する。【選択図】 図1
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD
車両制御装置、車両制御方法
2018-05-24
Patent
Electronic Resource
Japanese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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