To accurately recognize surrounding environment of a vehicle while reducing processing load.SOLUTION: A surrounding environment recognition device 50 comprises: a lidar 5 that detects surrounding environment of an own vehicle on the basis of the reflection wave obtained by radiating an electromagnetic wave toward the surroundings of an own vehicle having a driving control unit 115 for controlling the movement of an actuator AC; a data acquisition unit 111 that acquires point cloud data including the positional information of a measurement point on the surface of an object, at which a reflection wave arrives; and a determination unit 113 that recognizes the object in front of the own vehicle on the basis of the point cloud data acquired by the data acquisition unit 111, and determines a focus point to be used by the driving control unit 115 from among the measurement points corresponding to the object on the basis of the physical relationship between the own vehicle and the object. The data acquisition unit 111 acquires the point cloud data so that the density of the point cloud data surrounding the focus point determined by the determination unit 113 becomes larger.SELECTED DRAWING: Figure 2

    【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、アクチュエータACの動作を制御する走行制御部115を有する自車両の周囲に電磁波を照射して反射波に基づき自車両の周囲の外界状況を検出するライダ5と、反射波が得られる物体の表面の計測点の位置情報を含む点群データを取得するデータ取得部111と、データ取得部111により取得された点群データに基づき自車両の前方の物体を認識するとともに、自車両と物体との位置関係に基づいて、物体に対応する計測点の中から走行制御部115で用いられる着目点を決定する決定部113と、を備える。データ取得部111は、決定部113により決定された着目点の周囲の点群データの密度が大きくなるように点群データを取得する。【選択図】図2


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    Title :

    SURROUNDING ENVIRONMENT RECOGNITION DEVICE


    Additional title:

    外界認識装置


    Contributors:

    Publication date :

    2024-04-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / 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



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