To provide a technology for more accurately specifying on a map a travelable region far from a vehicle than in the prior art.SOLUTION: The travel environment recognition device 10 includes an information acquisition unit, an attribute specification unit, and a map generation unit. The information acquisition unit acquires detection information from a detection device 20. The attribute specification unit specifies that a three-dimensional object detected by the detection device is a moving object based on the detection information. The map generation unit generates a map representing a travelable region. The map generation unit represents, in the map, a region including at least a part of a region representing a moving three-dimensional object which is a three-dimensional object specified as the moving object by the attribute specifying unit as a travelable region.SELECTED DRAWING: Figure 1

    【課題】車両から遠方における走行可能領域をマップ上で従来技術よりも精度よく特定する技術を提供する。【解決手段】走行環境認識装置10は、情報取得部と、属性特定部と、マップ生成部と、を備える。情報取得部は、検出装置20から検出情報を取得する。属性特定部は、検出情報に基づき、検出装置によって検出された立体物が移動体であることを特定する。マップ生成部は、走行可能領域を表すマップを生成する。マップ生成部は、マップにおいて、属性特定部で移動体であると特定された立体物である移動立体物を表す領域の少なくとも一部を含む領域、を走行可能領域として表す。【選択図】図1


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    Title :

    TRAVEL ENVIRONMENT RECOGNITION DEVICE, TRAVEL ENVIRONMENT RECOGNITION METHOD, AND PROGRAM


    Additional title:

    走行環境認識装置、走行環境認識方法、プログラム


    Contributors:
    KATO KAZUKI (author)

    Publication date :

    2019-03-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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