To properly recognize an object vehicle being an avoidance object of steering control from a photographed image.SOLUTION: An object vehicle recognition device for recognizing an object vehicle being an avoidance object of steering control of an own vehicle comprises: a stop vehicle detection unit which detects a stop vehicle stopping in front of the own vehicle; an orientation determination unit which determines whether the stop vehicle is in the front-facing state in which the front face of the stop vehicle is oriented to the own vehicle or in the rear-facing state in which the rear face of the stop vehicle is oriented to the own vehicle; a boundary line deviation state determination unit which determines whether the stop vehicle is in the right boundary line deviation state in which the stop vehicle is across the boundary line on the right side of a travel lane of the own vehicle or the left boundary line deviation state in which the stop vehicle is across the boundary line on the left side of the travel lane or the stop vehicle is not in any of the right boundary line deviation state and the left boundary line deviation state; and an object vehicle recognition unit which recognizes the object vehicle of steering control on the basis of the photographed image taken by a front camera of the own vehicle, the determination result of the orientation determination unit and the determination result of the boundary line deviation state determination unit.SELECTED DRAWING: Figure 2

    【課題】操舵制御の回避対象となる対象車両を撮像画像から適切に認識する。【解決手段】自車両の操舵制御の回避対象となる対象車両を認識するための対象車両認識装置であって、自車両の前方に位置する停止車両を検出する停止車両検出部と、停止車両が自車両に前面を向けた前向き状態であるか自車両に背面を向けた後向き状態であるかを判定する向き判定部と、停止車両が自車両の走行レーンの右側の境界線を跨いだ右境界線逸脱状態であるか、停止車両が走行レーンの左側の境界線を跨いだ左境界線逸脱状態であるか、停止車両が右境界線逸脱状態及び左境界線逸脱状態の何れでもないかを判定する境界線逸脱状態判定部と、自車両の前方カメラの撮像画像と向き判定部の判定結果と境界線逸脱状態判定部の判定結果とに基づいて、操舵制御の対象車両の認識を行う対象車両認識部と、を備える。【選択図】図2


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    Title :

    OBJECT VEHICLE RECOGNITION DEVICE AND PROCESSING METHOD OF OBJECT VEHICLE RECOGNITION DEVICE


    Additional title:

    対象車両認識装置及び対象車両認識装置の処理方法


    Contributors:

    Publication date :

    2023-04-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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