Regardless of the irradiation method of the distance measuring sensor, degradation of recognition performance due to a change in the installation position of the distance measuring sensor is suppressed. An outside environment recognition device (12) that recognizes an outside environment around a vehicle according to an observation result of a LiDAR sensor (11) installed in the vehicle is configured to include a storage unit (21) that stores posture information of an installation posture of the LiDAR sensor in a three-dimensional predetermined coordinate system, a coordinate signal conversion unit (23) that converts a plurality of observation points obtained from the LiDAR sensor into a plurality of three-dimensional coordinate signals on the basis of the posture information in the predetermined coordinate system, a road surface candidate point extraction unit (24) that extracts a plurality of road surface candidate points indicating a road surface from the plurality of three-dimensional coordinate signals based on a height component of each of the three-dimensional coordinate signals, a road surface plane estimation unit (25) that estimates a road surface plane based on the plurality of road surface candidate points, and a calibration amount calculation unit (26) that calculates a calibration amount of the posture information based on a reference plane set based on the predetermined coordinate system and the road surface plane.
EXTERNAL ENVIRONMENT RECOGNITION DEVICE
2021-12-16
Patent
Electronic Resource
English
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