Object recognition device

A technology for object recognition and objects, applied in scene recognition, measurement devices, optical observation devices, etc.

Active Publication Date: 2019-06-04
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because these areas are fixed to the relative orientation of the detected objects

Method used

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Examples

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Example Embodiment

[0045] Embodiment 1.

[0046] First, refer to Figure 1 to Figure 8 Embodiment 1 of the present invention will be described.

[0047] 1. The composition of the object recognition device

[0048] figure 1 It is a block diagram showing the structure of the object recognition apparatus which concerns on Embodiment 1 of this invention. figure 1 The illustrated object recognition device 1 is mounted on a vehicle and recognizes three-dimensional objects present in front of, to the side of, and to the rear of the vehicle. The three-dimensional objects to be recognized are, for example, moving objects such as pedestrians, bicycles, and automobiles, and stationary objects such as trees, utility poles, buildings, and road structures. The road structure includes, for example, a structure provided on a roadside belt such as a guardrail, a road sign, a retaining wall, and a soundproof wall (hereinafter, also referred to as a "roadside".). In this specification, a vehicle on which the ...

Example Embodiment

[0083] Embodiment 2.

[0084] Next, refer to Figures 9 to 10 Embodiment 2 of the present invention will be described.

[0085] 1. The composition of the object recognition device

[0086] Figure 9 It is a block diagram showing the structure of the object recognition apparatus which concerns on Embodiment 2 of this invention. Figure 9 The configuration of the shown object recognition device 2 is the same as figure 1 The configuration of the shown object recognition apparatus 1 is basically the same. The description of the same configuration is omitted. In this manual, with the figure 1 Similarly, the vehicle of the object recognition device 1 shown will be equipped with Figure 9 The vehicle of the object recognition device shown is also referred to as "host vehicle OV".

[0087] andfigure 1 The object recognition device 1 shown is different, Figure 9 The illustrated object recognition device 2 includes a roadside object determination portion 18 . The roadside obj...

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Abstract

The invention relates to an object recognition device, and provides the technology which can prevent a condition that different objects detected in a curved lane are wrongly determined as the same object. A solid object fusion portion includes a lane slope estimation portion, a grouping area set portion and an identity determination portion. The lane slope estimation portion performs estimate processing to estimate a lane slope angle theta in a detecting position of a solid object detected by an autonomous recognition sensor. The grouping area set portion performs setting processing to set a grouping area GA used in determination processing in the identity determination portion. Based on the grouping area GA, the identity determination portion determines whether or not the solid object detected by a certain autonomous recognition sensor is identical to the solid object detected by an autonomous recognition sensor which is different from the certain autonomous recognition sensor.

Description

technical field [0001] The invention relates to an object recognition device. Background technique [0002] Japanese Patent No. 5812064 discloses an object recognition device in which an area centered on the position of a first object detected by a millimeter-wave radar and a second object detected based on an image captured by a vehicle-mounted camera In the case where the area centered at the position of is overlapped, it is determined that the first object and the second object are the same object. [0003] Patent Document 1: Japanese Patent No. 5812064 [0004] In the object recognition device described above, an error due to the characteristics of the millimeter-wave radar is considered for the area centered on the position of the first object. In addition, an error due to the characteristics of the vehicle-mounted camera is taken into account for the region centered on the position of the second object. However, since these areas are fixed to the relative directions...

Claims

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Application Information

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IPC IPC(8): G01S13/93G01S13/931
CPCG01S13/931G01S13/867G01S13/865G06T2207/30256G06T7/60G06V20/588G06V20/58G01S13/50B60R1/00G06T7/73G01S13/06G06T2207/30261B60R2300/302B60R2300/301
Inventor 小森照元
Owner TOYOTA JIDOSHA KK
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