To provide a peripheral state recognition device capable of inexpensively recognizing the height of an object existing around a vehicle.SOLUTION: A peripheral state recognition device 1 calculates as an amount of displacement to be detected a difference between a position of a curb 18 in a first overhead view image obtained by imaging with a camera 2 when a vehicle 15 is located at a position A1 and a position of the curb 18 in a second overhead view image obtained by imaging with the camera 2 when the vehicle 15 is located at a position A2, and recognizes the height of the curb 18 based on the amount of displacement to be detected and a moving distance of the vehicle 15 from the position A1 to the position A2.SELECTED DRAWING: Figure 2
【課題】車両周辺に存在する物体等の高さの認識を安価に実現する。【解決手段】周辺状況認識装置1は、車両15が位置A1に位置するときにカメラ2による撮像によって得られた第1の俯瞰画像中における縁石18の位置と、車両15が位置A2に位置するときにカメラ2による撮像によって得られた第2の俯瞰画像中における縁石18の位置との差を検出対象変位量として算出し、検出対象変位量と、位置A1から位置A2までの車両15の移動距離とに基づいて縁石18の高さを認識する。【選択図】図2
PERIPHERAL STATE RECOGNITION DEVICE AND PERIPHERAL STATE RECOGNITION METHOD
周辺状況認識装置および周辺状況認識方法
2020-10-29
Patent
Electronic Resource
Japanese
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