To recognize at least an object around an automatic driving vehicle with high accuracy even if there is a missing area in point group information of an object.SOLUTION: An on-vehicle processing device comprises: a point group storage unit 22 for storing a first point group measured in a first outer field region; a point group missing region estimation unit 23 that estimates a point group missing region, which is a region in which a measuring point included in a point group acquired in an object around a vehicle does not satisfy a predetermined condition; a point group matching unit 23 for matching a stored first point group with a second point group measured in a second outer field region in the point group missing region; a third point group generation unit 24 that generates a third point group using the first point group and the second point group matched by the point group matching unit 23; and an object recognition unit 25 that uses the third point group to recognize an object.SELECTED DRAWING: Figure 2
【課題】物体の点群情報に点群の欠落領域がある場合においても、少なくとも自動運転車両周辺の物体を高精度に認識するようにする。【解決手段】第1の外界領域を計測した第一点群を記憶する点群記憶部22と、車両周辺の物体において取得された点群に含まれる測定点が所定の条件を満たしていない領域である点群欠落領域を推定する点群欠落領域推定部23と、点群欠落領域において、記憶された第一点群と第2の外界領域を計測した第二点群とをマッチングする点群マッチング部23と、該点群マッチング部23によりマッチングされた第一点群と第二点群を用いて、第三点群を生成する第三点群生成部24と、第三点群を用いて物体を認識する物体認識部25と、を有する。【選択図】図2
ON-VEHICLE PROCESSING DEVICE AND OBJECT RECOGNITION METHOD
車載処理装置及び物体認識方法
2024-07-10
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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