To provide a target recognition device capable of continuously recognizing a target around an own vehicle even in a case where a recognition state of a radar target becomes unstable, a target recognition method, and a vehicle control system which controls the own vehicle on the basis of a recognition result of the target.SOLUTION: The present invention relates to a target recognition device configured to recognize a target around an own vehicle. The target recognition device comprises: a radar target acquisition part (42) for acquiring the target that is detected by transmitting/receiving a radar wave, as a radar target; an image target acquisition part (41) for acquiring the target included in a picked-up image of an imaging apparatus, as an image target; a target recognition part (43) for recognizing any one of the multiple radar targets included in a predetermined range with respect to the image target as a first target and recognizing any other radar target than the first target as a second target; and an identity discrimination part (44) for discriminating that the first target and the second target are identical.SELECTED DRAWING: Figure 1
【課題】レーダ物標の認識状態が不安定になったとしても、自車周辺の物標を継続して認識できる物標認識装置、物標認識方法及び物標の認識結果に基づき自車を制御する車両制御システムを提供する。【解決手段】自車周辺の物標を認識する物標認識装置であって、レーダ波の送受信により検知された前記物標をレーダ物標として取得するレーダ物標取得部(42)と、撮像装置の撮像画像に含まれる前記物標を画像物標として取得する画像物標取得部(41)と、前記画像物標に対して所定範囲内に含まれる複数の前記レーダ物標のうちのいずれかを第1物標として認識し、前記第1物標以外の前記レーダ物標を第2物標として認識する物標認識部(43)と、前記第1物標及び前記第2物標が同一物であることを判定する同一判定部(44)と、を備えることを特徴とする物標認識装置。【選択図】 図1
TARGET RECOGNITION DEVICE, TARGET RECOGNITION METHOD, AND VEHICLE CONTROL SYSTEM
物標認識装置、物標認識方法及び車両制御システム
2019-04-04
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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