To raise recognition accuracy of a fallen object on a road surface in object recognition processing for recognizing an object around a vehicle.SOLUTION: A noise area near a road surface is set on the basis of topographical map information showing an absolute position of the road surface. A rider point group which is detected by a rider is classified into a first point group which is included in the noise area and a second point group except the first point group. A fallen object candidate 3C which is included in the noise area is extracted from the first point group. On the other hand, a tracking object candidate 4C which is not included in the noise area is extracted from the second point group. When horizontal positions of the fallen object candidate 3C and the tracking object candidate 4C coincide, it can be determined that not a fallen object 3 but a tracking object 4 exists at that position. In that case, the fallen object candidate 3 is integrated with the tracking object candidate 4C as the tracking object 4. In other word, the fallen object candidate 3C overlapping with the tracking object candidate 4C is recognized not as the fallen object 3 but as the tracking object 4.SELECTED DRAWING: Figure 9
【課題】車両の周囲の物体を認識する物体認識処理において、路面上の落下物の認識精度を高める。【解決手段】路面の絶対位置を示す地形地図情報に基づいて、路面近くのノイズ領域が設定される。ライダーによって検出されるライダー点群は、ノイズ領域に含まれる第1点群と、それ以外の第2点群とに分類される。第1点群からは、ノイズ領域に含まれる落下物候補3Cが抽出される。一方、第2点群からは、ノイズ領域に含まれない追跡対象候補4Cが抽出される。落下物候補3Cと追跡対象候補4Cの水平位置が一致する場合、その位置には落下物3ではなく追跡対象4が存在すると判断することができる。その場合、落下物候補3Cと追跡対象候補4Cが追跡対象4として統合される。言い換えれば、追跡対象候補4Cと重なる落下物候補3Cは、落下物3ではなく追跡対象4として認識される。【選択図】図9
OBJECT RECOGNITION DEVICE AND VEHICLE CONTROL SYSTEM
物体認識装置及び車両制御システム
2020-09-24
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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen |
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