To provide a recognition device, a vehicle system, a recognition method and a program capable of improving water splash determination accuracy.SOLUTION: A recognition device comprises: an acquiring part for acquiring a first detection result from a light detection and ranging (LIDAR) which detects a target existing in a vehicle advance direction and acquiring a second detection result from a camera which is arranged so that a detection range thereof overlaps to a detection range of the LIDAR; and a recognizing part for recognizing a target existing in the surrounding of the vehicle, on the basis of the first and second detection results. The recognizing part performs exclusion processing for excluding, from recognition results which are recognized as targets existing in the surrounding of the vehicle, targets which satisfy, all of a first condition indicating that, the target exists in a prescribed distance from the vehicle, a second condition indicating that the target is detected by the LIDAR and is not detected by the camera, and a third condition in which, a width of the target is a prescribed value or less, a detection continuation time is less than or equal to a prescribed time.SELECTED DRAWING: Figure 1
【課題】水しぶきの判定精度を向上することができる認識装置、車両システム、認識方法、およびプログラムを提供すること。【解決手段】車両の進行方向に存在する物標を検出するライダーから第1検出結果を取得するとともに、前記ライダーと検出範囲が重なるように配置されたカメラから第2検出結果を取得する取得部と、前記第1検出結果および前記第2検出結果に基づいて、前記車両の周囲に存在する物標を認識する認識部と、を備え、前記認識部は、前記車両から所定距離以内に存在することを示す第1条件、前記ライダーによって検出され、かつ、前記カメラによって検出されてないことを示す第2条件、および幅が所定値以下、かつ、検出継続時間が所定時間以下であることを示す第3条件の全てを満たす物標を、前記車両の周囲に存在する物標として認識された認識結果から除外する除外処理を実行する認識装置。【選択図】図1
RECOGNITION DEVICE, VEHICLE SYSTEM, RECOGNITION METHOD AND PROGRAM
認識装置、車両システム、認識方法、およびプログラム
2022-10-12
Patent
Electronic Resource
Japanese
IPC: | 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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