To provide a travel environment recognition device capable of recognizing a fusion three-dimensional object by efficiently and effectively utilizing detection information by a plurality of sensors.SOLUTION: A travel environment recognition part 21d recognizes a fusion three-dimensional object using the worst value of each detection result when determining that a first detecting three-dimensional object and a second detecting three-dimensional object exist near an own vehicle 100, and recognizes the fusion three-dimensional object using a mean value of each detection result when determining that the first detecting three-dimensional object and the second detecting three-dimensional object exist far away from the own vehicle, by comparing a parameter L with a setting threshold Lth based on a distance to each of the first detecting three-dimensional object and the second detecting three-dimensional object from the own vehicle.SELECTED DRAWING: Figure 3
【課題】複数のセンサによる検出情報を効率的且つ有効に活用してフュージョン立体物を認識することができる走行環境認識装置を提供する。【解決手段】走行環境認識部21dは、自車両から第1の検出立体物及び第2の検出立体物までの距離に基づくパラメータLと設定閾値Lthとの比較により、第1の検出立体物及び第2の検出立体物が自車両100の近傍に存在すると判定した場合には各検出結果の最悪値を用いてフュージョン立体物を認識し、第1の検出立体物及び第2の検出立体物が自車両の遠方に存在すると判定した場合には各検出結果の平均値を用いて前記フュージョン立体物を認識する。【選択図】図3
TRAVEL ENVIRONMENT RECOGNITION DEVICE
走行環境認識装置
2021-04-01
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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06V |
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