To provide an object detection apparatus, object detection method, and object detection program capable of achieving better object detection accuracy than before.SOLUTION: An object detection apparatus (8) comprises a range-finding point acquisition unit (803), a detection surface acquisition unit (805), and an object detection unit (808). The range-finding point acquisition unit acquires a range-finding point detection result using a range-finding sensor (2) for detecting range-finding points (Ps) around the own vehicle. The detection surface acquisition unit acquires a detection surface (Ft) which is an object surface detection result using a surface detection sensor (3) for detecting an object surface which is the outer surface of the object. The object detection unit detects the object based on the range-finding point selected according to the positional relationship with the detection surface in the space around the own vehicle.SELECTED DRAWING: Figure 2
【課題】従来よりも良好な物体検知精度を実現可能な、物体検知装置、物体検知方法、および物体検知プログラムを提供する。【解決手段】物体検知装置(8)は、測距点取得部(803)と、検知面取得部(805)と、物体検知部(808)とを備える。測距点取得部は、自車両の周囲の測距点(Ps)を検知するための測距センサ(2)を用いた、測距点の検知結果を取得する。検知面取得部は、物体の外表面である物体面を検知するための面検知センサ(3)を用いた、物体面の検知結果である検知面(Ft)を取得する。物体検知部は、自車両の周囲の空間における検知面との位置関係に応じて選択された測距点に基づいて、物体を検知する。【選択図】図2
OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, AND OBJECT DETECTION PROGRAM
物体検知装置、物体検知方法、および物体検知プログラム
2022-05-06
Patent
Electronic Resource
Japanese
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