To provide an object recognition abnormality detection device that can accurately detect an abnormality in peripheral object recognition of a vehicle that uses a distance measurement sensor and an environment camera.SOLUTION: An image processing ECU serving as an object recognition abnormality detection device detects an abnormality in peripheral object recognition of a vehicle that uses a distance measurement sensor 10 installed on the vehicle for generating a reflection light image including distance information and generating a background light image, and an environment camera 20 installed on the vehicle for generating a camera image. The image processing ECU comprises: a speed status grasping unit for acquiring a speed status of the vehicle; an image information acquisition unit for acquiring the background light image and the camera image; and a projection error detection unit for detecting a projection error between the background light image and the camera image when the background light image and the camera image are generated in the speed status where the vehicle runs at a speed that is equal to or lower than a low speed range.SELECTED DRAWING: Figure 5
【課題】測距センサと外界カメラとを用いた車両の周辺物体認識における異常を、高精度に検出可能な物体認識用異常検出装置を提供する。【解決手段】物体認識用異常検出装置としての画像処理ECUは、車両に搭載され、距離情報を含む反射光画像を生成することに加えて、背景光画像を生成する測距センサ10と、車両に搭載され、カメラ画像を生成する外界カメラ20とを用いた車両の周辺物体認識における異常を検出する。画像処理ECUは、車両の速度状態を取得する速度状態把握部と、背景光画像及びカメラ画像を取得する画像情報取得部と、車両が低速域以下の速度である速度状態にて背景光画像とカメラ画像とが生成されている場合に、背景光画像とカメラ画像と間の投影誤差を検出する投影誤差検出部と、を備える。【選択図】図5
OBJECT RECOGNITION ABNORMALITY DETECTION DEVICE AND OBJECT RECOGNITION ABNORMALITY DETECTION PROGRAM
物体認識用異常検出装置及び物体認識用異常検出プログラム
2021-03-18
Patent
Electronic Resource
Japanese
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