To recognize an outside situation in surroundings of a vehicle with high accuracy while reducing processing load.SOLUTION: An outside world recognition device 50 comprises: a lidar 5 that detects an outside situation in surroundings of an own vehicle by irradiating the surroundings of the own vehicle with an electromagnetic wave; a road recognition unit 111 that recognizes a road structure in a traveling direction of the own vehicle; a definition unit 112 that defines a detection region at each predetermined distance along the traveling direction on a plane in a direction substantially perpendicular to an irradiation direction of the electromagnetic wave irradiated from the lidar 5 on the basis of the road structure recognized by the road recognition unit 111; and a setting unit 113 that sets an irradiation position for the lidar 5 on the basis of a size of a predetermined detection object in the detection region defined by the definition unit 112. The definition unit 112 determines the size of the detection region on the basis of a distance from the own vehicle to the detection region and the road structure recognized by the road recognition unit 111, and defines the detection region according to the determined size.SELECTED DRAWING: Figure 2
【課題】処理負荷を低減しつつ、車両周囲の外界状況を精度よく認識する。【解決手段】外界認識装置50は、自車両の周囲に電磁波を照射して自車両の周囲の外界状況を検出するライダ5と、自車両の進行方向の道路構造を認識する道路認識部111と、道路認識部111により認識された道路構造に基づいて、ライダ5から照射される電磁波の照射方向に対し略垂直な方向の平面上に、進行方向に沿って所定距離毎に検出領域を画定する画定部112と、画定部112により画定された検出領域内に、予め定められた検出対象の大きさに基づいてライダ5の照射位置を設定する設定部113と、を備える。画定部112は、自車両から検出領域までの距離と道路認識部111により認識された道路構造とに基づいて検出領域の大きさを決定し、決定した大きさに従って検出領域を画定する。【選択図】図2
OUTSIDE WORLD RECOGNITION DEVICE
外界認識装置
2023-08-31
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 |
OUTSIDE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE ENVIRONMENT RECOGNITION METHOD
European Patent Office | 2023
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