To discriminate targets around a vehicle with high accuracy.SOLUTION: A first point group is a point group measured by a lidar and longer than a reference length. A second point group is a point group measured by a lidar and other than the first point group. The first point group is classified as a wall, and the second point group is classified as a target candidate. When there is a plurality of first point groups representing a single wall, a first point group endpoint representing an end of a gap between the plurality of first point groups is extracted. Also, a second point group endpoint representing an end of the second point group is extracted. Then, when a difference between the direction of the first point group endpoint and the direction of the second point group endpoint is less than or equal to a first prescribed value and the distance of the first point group endpoint is greater than the distance of the second point group endpoint by a second prescribed value or more, the target candidate is determined as an effective target.SELECTED DRAWING: Figure 2

    【課題】車両の周囲の物標を精度良く判別すること。【解決手段】第1点群は、ライダーにより計測される、基準長さよりも長い点群である。第2点群は、ライダーにより計測される、第1点群以外の点群である。まず、第1点群は壁として分類され、第2点群は物標候補として分類される。単一の壁を表す第1点群が複数存在する場合、複数の第1点群の間のギャップの端を表す第1点群端点が抽出される。また、第2点群の端を表す第2点群端点が抽出される。そして、第1点群端点の方向と第2点群端点の方向との差が第1所定値以下であり、且つ、第1点群端点の距離が第2点群端点の距離よりも第2所定値以上大きい場合、物標候補は有効物標として判定される。【選択図】図2


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    Title :

    TARGET DISCRIMINATING DEVICE


    Additional title:

    物標判別装置


    Contributors:

    Publication date :

    2019-06-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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