To execute a driving support suitable for a driving situation without distinguishing and recognizing each object in a scene where there is an object that blocks a planned driving lane of an own vehicle.SOLUTION: A surrounding object recognition device comprises: a rider 113 that acquires point cloud data Pn of surrounding environment; and a surrounding object recognition unit 315 that recognizes an object existing around an own vehicle V based on the point cloud data Pn acquired by the rider 113. In a surrounding object recognition method, the surrounding object recognition unit 315 recognizes a lane blockage region LSA, which is a region in which a left lane LL is blocked by parked vehicles PV1 and PV2, which hinder a traveling of the own vehicle V, based on the point cloud data Pn. Then, the lane blockage region LSA is expanded by connecting the point cloud data Pn in the lane traveling direction starting from a starting point SP of the lane blockage region LSA.SELECTED DRAWING: Figure 8

    【課題】自車の走行予定車線を閉塞する物体が存在するシーンにおいて、物体それぞれを区別して認識しなくても、走行状況に適した走行支援を実行すること。【解決手段】周囲環境の点群データPnを取得するライダー113と、ライダー113により取得された点群データPnにより、自車Vの周囲に存在する物体を認識する周囲物体認識部315と、を備える。この周囲物体認識方法において、周囲物体認識部315は、点群データPnにより、自車Vの走行障害となる駐車車両PV1,PV2によって左車線LLが閉塞されている領域である車線閉塞領域LSAを認識する。そして、車線閉塞領域LSAの開始点SPを起点として車線進行方向に点群データPnを連結することにより、車線閉塞領域LSAを拡張する。【選択図】図8


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    Title :

    SURROUNDING OBJECT RECOGNITION METHOD AND SURROUNDING OBJECT RECOGNITION DEVICE


    Additional title:

    周囲物体認識方法及び周囲物体認識装置


    Contributors:

    Publication date :

    2021-01-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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



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