To provide an object detection device capable of suppressing output of an erroneous fusion object due to erroneous detection by a radar.SOLUTION: An objection detection device comprises: a radar erroneous detection determination unit 4 that sets, as true, a radar erroneous detection suspicion flag for radar-detected object information that is determined to be suspected as erroneous detection; a fusion processing unit 7 that outputs fusion object information based on second sensor-detected object information and the radar-detected object information obtained from the radar erroneous detection determination unit 4; and a radar erroneous detection deletion unit 8 that deletes fusion object information that is suspected as erroneous detection. When a fusion object is determined to be an object detected by only a radar, the fusion processing unit 7 sets, as true, a single-sensor detection flag for the fusion object information, and the radar erroneous detection deletion unit 8 deletes the fusion object information for which the radar erroneous detection suspicion flag is true and the single-sensor detection flag is true.SELECTED DRAWING: Figure 1
【課題】レーダの誤検出に伴う誤ったフュージョンオブジェクトの出力を抑制する物体検出装置を提供する。【解決手段】誤検出の疑いがあると判定されたレーダ検出物体情報のレーダ誤検出疑いフラグを真に設定するレーダ誤検出判定部4と、第二センサ検出物体情報およびレーダ誤検出判定部4から取得したレーダ検出物体情報をもとにフュージョンオブジェクト情報を出力するフュージョン処理部7と、誤検出の疑いがあるとされたフュージョンオブジェクト情報を削除するレーダ誤検出削除部8とを備え、フュージョン処理部7は、フュージョンオブジェクトがレーダのみによって検出されたものであると判定されたときにフュージョンオブジェクト情報の単一センサ検出フラグを真に設定し、レーダ誤検出削除部8は、レーダ誤検出疑いフラグが真でありかつ単一センサ検出フラグが真であるフュージョンオブジェクト情報を削除する。【選択図】図1
OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD AND OBJECT DETECTION PROGRAM
物体検出装置、物体検出方法および物体検出プログラム
2024-09-05
Patent
Electronic Resource
Japanese
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