To provide a peripheral recognition device, a peripheral recognition method, and a program that can improve a recognition accuracy around a vehicle.SOLUTION: A peripheral recognition device of an embodiment comprises: an acquisition unit that acquires first road information including a road boundary around an own vehicle from map information based on position information of the own vehicle; a recognition unit that recognizes the road boundary around the own vehicle based on an output of an external sensor; and a determination unit for determining, when a second road boundary included in second road information which is a recognition result of the recognition unit exists in a road boundary determination area based on a position of a first road boundary included in the first road information acquired by the acquisition unit, that the first road boundary is coincident with the second road boundary. The determination unit sets a size of the road boundary determination area based on a predetermined condition.SELECTED DRAWING: Figure 2
【課題】車両周辺の認識精度を向上させることができる周辺認識装置、周辺認識方法、およびプログラムを提供すること。【解決手段】実施形態の周辺認識装置は、自車両の位置情報に基づいて地図情報から前記自車両の周辺の道路境界を含む第1道路情報を取得する取得部と、外界センサの出力に基づいて前記自車両の周辺の道路境界を認識する認識部と、前記取得部により取得された第1道路情報に含まれる第1道路境界の位置を基準とした道路境界判定領域内に、前記認識部の認識結果である第2道路情報に含まれる第2道路境界が存在する場合に、前記第1道路境界と前記第2道路境界とが合致していると判定する判定部と、を備え、前記判定部は、所定条件に基づいて前記道路境界判定領域の大きさを設定する。【選択図】図2
PERIPHERAL RECOGNITION DEVICE, PERIPHERAL RECOGNITION METHOD, AND PROGRAM
周辺認識装置、周辺認識方法、およびプログラム
2021-08-30
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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