To suppress spray from being recognized as a target in target recognition processing of recognizing a target around a vehicle.SOLUTION: Both a lidar and a camera are used in target recognition processing. A first target is detected based on a lidar measurement result, and a second target is detected based on a camera photographing image. When the first target and the second target are capable of being fused, a determination is made whether an integrated target is spray or not. A target frame is a frame of the first target projected on the camera photographing image. If the integrated target is the spray, the image within the target frame is supposed to have features specific to the spray. Then, an amount of feature relevant to the target frame is computed based on a camera photographing result. When the amount of feature is equal to or more than a threshold, it is determined that the integrated target is the spray, and the integrated target is excluded from the target.SELECTED DRAWING: Figure 2
【課題】車両の周囲の物標を認識する物標認識処理において、水しぶきが物標として誤認識されることを抑制する。【解決手段】物標認識処理にライダーとカメラの両方が用いられる。第1物標は、ライダー計測結果に基づいて検出され、第2物標は、カメラ撮像画像に基づいて検出される。第1物標と第2物標がフュージョン可能な場合、統合物標が水しぶきか否か判定される。物標枠は、カメラ撮像画像上に投影された第1物標の枠である。仮に統合物標が水しぶきである場合、物標枠内の画像は、水しぶきに特有の特徴を有しているはずである。そこで、物標枠に関連する特徴量が、カメラ撮像結果に基づいて演算される。特徴量が閾値以上である場合、統合物標は水しぶきであると判定され、物標から除外される。【選択図】図2
TARGET RECOGNITION DEVICE AND VEHICLE DRIVING CONTROL SYSTEM
物標認識装置及び車両走行制御システム
2019-09-19
Patent
Electronic Resource
Japanese
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