To accurately recognize an object existing around a vehicle.SOLUTION: An obstacle recognition device which is mounted on a vehicle and recognizes an obstacle associated with traveling of the vehicle, comprises: a sensor that detects the object around the vehicle as point group data; a distribution evaluation unit that evaluates a distribution of the point group data obtained using the sensor; a sort determination unit that determines a sort of the obstacle existing around the vehicle based on a distribution characteristic of the point group data; and an output unit that outputs a determination result by the sort determination unit, wherein: the distribution evaluation unit sets a plurality of height ranges with respect to heights from a road surface to obtain a total number of the point group data belonging to each height range; and the sort determination unit recognizes that a rod-shaped object exists when a predetermined number or more of point group data exist within the same height range, and when a dispersion in a vehicle width direction of a plurality of point group data belonging to the same height range is equal to or greater than a predetermined value.SELECTED DRAWING: Figure 1
【課題】車両の周囲に所在する物体を精度よく認識すること。【解決手段】車両に搭載され、前記車両の走行に係る障害物を認識する障害物認識装置であって、前記車両の周囲の物体を点群データとして検知するセンサと、前記センサを用いて得られた前記点群データの分布を評価する分布評価部と、前記点群データの分布特性に基づいて前記車両の周囲に存在する障害物の種別を判定する種別判定部と、前記種別判定部による判定結果を出力する出力部と、を備え、前記分布評価部は、路面からの高さに対して複数の高さ範囲を設定し、各高さ範囲に属する点群データの数を求め、前記種別判定部は、同一の高さ範囲に所定数以上の点群データが所在し、かつ当該同一の高さ範囲に属する複数の点群データの車幅方向の分散が所定値以上である場合に、棒状の物体が存在すると認識することを特徴とする。【選択図】図1
OBSTACLE RECOGNITION DEVICE AND OBSTACLE RECOGNITION METHOD
障害物認識装置及び障害物認識方法
2023-01-18
Patent
Electronic Resource
Japanese
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