To appropriately control an interval between detection points irradiated with electromagnetic waves.SOLUTION: An external environment recognition apparatus 50 includes: an on-vehicle detector 5 for detecting an external environment situation around an own vehicle by electromagnetic waves; and a road surface information acquisition unit 11 for acquiring road surface information on a road on the basis of detection data of the on-vehicle detector 5. The road surface information acquisition unit 11 includes a recognition unit 111 for recognizing a road surface of the road and a three-dimensional object on the road on the basis of three-dimensional point group data including distance information for each of a plurality of detection points acquired by the on-vehicle detector 5. Further, the external environment recognition apparatus 50 includes: a determination unit 113 for determining, as a scanning angular resolution of the electromagnetic waves, an interval between the detection points of the three-dimensional point group data used for recognition by the recognition unit 111, on the basis of a size of a predetermined three-dimensional object determined in advance as a recognition target and a distance to the three-dimensional object; and an avoidance measure unit 115 for taking a predetermined avoidance measure so that at least one of the scanning angular resolution and the number of the detection points corresponding to the interval between the detection points does not exceed a limit value determined in advance.SELECTED DRAWING: Figure 2
【課題】電磁波を照射する検出点の間隔を適切に制御すること。【解決手段】外界認識装置50は、電磁波により自車両の周囲の外界状況を検出する車載検出器5と、車載検出器5の検出データに基づいて道路の路面情報を取得する路面情報取得部11と、を備える。路面情報取得部11は、車載検出器5で取得された複数の検出点毎の距離情報を含む3次元点群データに基づいて、道路の路面および路上の立体物を認識する認識部111を含む。外界認識装置50はさらに、認識対象として予め定めた所定の立体物の大きさおよび立体物までの距離に基づいて、認識部111で認識に用いる3次元点群データの検出点の間隔を、電磁波の走査角度分解能として決定する決定部113と、走査角度分解能および検出点の間隔に対応する検出点の数の少なくとも一方が予め定めた制限値を超えないように、所定の回避措置をとる回避措置部115と、を備える。【選択図】図2
EXTERNAL ENVIRONMENT RECOGNITION APPARATUS
外界認識装置
2024-10-09
Patent
Electronic Resource
Japanese
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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |