【課題】処理負荷を低減しつつ、車両周囲の外界状況を精度よく認識すること。【解決手段】外界認識装置50は、自車両の周囲に電磁波を照射して周囲の外界状況を時系列に検出する車載検出器としてのライダ5と、ライダ5で検出された情報に基づいて、自車両が走行する道路の路面情報を取得する路面情報取得部としての演算部11と、を備える。演算部11は、道路上の異なる位置でそれぞれ、自車両から所定距離離れた道路上の第1領域の、あらかじめ定めた検出対象を示す情報を認識する認識部111と、認識部111で認識した検出対象を示す情報を、自車両の進行方向および走行速度に基づいてマッピングするマッピング部114と、を含む。【選択図】図2

    An outside world recognition device (50) is provided with: a lidar (5) that emits electromagnetic waves to the surroundings of a host vehicle as a vehicle-mounted detector and detects the outside situation of the surroundings in time series; and a calculation unit (11) that, as a road surface information acquisition unit, acquires road surface information on the road on which the host vehicle travels on the basis of the information detected by the lidar (5). The calculation unit (11) includes: a recognition unit (111) that recognizes, at different positions on the road, information indicating a predetermined detection target in a first region on the road at a predetermined distance from the host vehicle; and a mapping unit (114) that maps the information indicating the detection target recognized by the recognition unit (111) on the basis of the travel direction and travel speed of the host vehicle.


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    Title :

    外界認識装置


    Publication date :

    2024-03-14


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen