To provide an environment recognition device or the like capable of more precisely recognizing an environment by sensor fusion processing.SOLUTION: An environment recognition device 100 recognizes an environment of a vehicle A in which plural types of periphery monitoring sensors 10 whose detection range is at least partially overlapped. The environment recognition device 100 comprises a detection information acquisition part 110 for acquiring detection information from each of the plural types of periphery monitoring sensors 10. The environment recognition device 100 comprises: a weight setting part 130 for setting a weight corresponding to a travel scene of the vehicle for each detection information about an overlapping part in the detection range; and a recognition information generation part 140 for generating environment recognition information by integrating each detection information in which the weight is set.SELECTED DRAWING: Figure 2
【課題】センサフュージョン処理によって外界をより正確に認識可能な外界認識装置等を提供する。【解決手段】外界認識装置100は、検出範囲が少なくとも一部重複する複数種類の周辺監視センサ10を搭載した車両Aの外界を認識する。外界認識装置100は、複数種類の周辺監視センサ10からそれぞれ検出情報を取得する検出情報取得部110を備える。外界認識装置100は、検出範囲の重複部分に関する各検出情報に対して、車両の走行シーンに応じた重みを設定する重み設定部130と、重みを設定された各検出情報を統合して外界の認識情報を生成する認識情報生成部140と、を備える。【選択図】図2
ENVIRONMENT RECOGNITION DEVICE, ENVIRONMENT RECOGNITION METHOD, AND ENVIRONMENT RECOGNITION PROGRAM
外界認識装置、外界認識方法、および外界認識プログラム
2022-01-06
Patent
Electronic Resource
Japanese
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