External environment recognition device
An identification device and external technology, applied in the direction of control devices, measuring devices, instruments, etc., can solve the problems of adverse effects on the recognition performance of external recognition devices, and achieve the effect of suppressing the reduction of recognition performance
Pending Publication Date: 2021-07-23
HITACHI ASTEMO LTD
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Problems solved by technology
Considering that the installation posture of the distance measuring sensor deviates from the design value due to changes caused by aging deterioration or external factors such as impacts, it is assumed that the recognition performance of the external recognition device will be adversely affected due to the increase in the deviation
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[0024] Next, the outside world recognition system according to this embodiment will be described with reference to the drawings. figure 1 It is a schematic diagram of the external recognition system deployed on the vehicle of this embodiment. figure 1 The shown outside world recognition system includes a front and rear pair of LiDAR sensors (distance measuring sensors) 11 provided in the bumper of the vehicle 1 and an outside world recognition device 12 provided inside the vehicle 1 . In the factory state, the pair of LiDAR sensors 11 are installed on the vehicle 1 so that the optical axes of the pair of LiDAR sensors 11 are at right angles to the vertical direction of the vehicle and parallel to the front-rear direction of the vehicle. The angle and height information of the installation attitude of the LiDAR sensor 11 at the factory is stored in the external recognition device 12 in the form of initial design values. Furthermore, in this embodiment, one LiDAR sensor 11 is i...
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Regardless of the emission method of a distance measurement sensor, recognition performance degradation resulting from change in the installation position of the distance measurement sensor is suppressed. An external environment recognition device (12) for recognizing the external environment around a vehicle according to the observation results of a LiDAR sensor (11) mounted on the vehicle comprises: a storage unit (21) for storing orientation information about the mounting orientation of the LiDAR sensor in a predetermined three-dimensional coordinate system; a coordinate signal conversion unit (23) for using the orientation information to convert a plurality of observation points in the three-dimensional coordinate system obtained from the LiDAR sensor into a plurality of three-dimensional coordinate signals; a road surface candidate point extraction unit (24) for using the height components of the three-dimensional coordinate signals to extract, from the plurality of three-dimensional coordinate signals, a plurality of road surface candidate points indicating a road surface; a road surface plane estimation unit (25) for estimating a road surface plane on the basis of the plurality of road surface candidate points; and a calibration amount calculation unit (26) for using a reference plane set on the basis of the predetermined coordinate system and the road surface plane to calculate an amount by which to calibrate the orientation information.
Description
technical field [0001] The invention relates to an external identification device. Background technique [0002] Conventionally, external world recognition devices are known that use ranging sensors such as LiDAR (Laser imaging Detection AND Ranging) sensors to detect surrounding objects and the position of white lines on the road. The distance measuring sensor measures the distance to an object by irradiating laser light in pulses and measuring the time interval between receiving reflected light from the object. In this case, in addition to providing a plurality of laser elements for each irradiation angle, the distance measuring sensor can detect the position of an object in three-dimensional space by changing the irradiation angle of the laser elements step by step and using reflected light of laser light. [0003] To convert the distance information obtained from the distance measuring sensor into a coordinate signal in a three-dimensional space, it is usually obtained ...
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IPC IPC(8): G01S17/931G01S7/497
CPCG01S17/931G01S7/4972G01S17/42G01S7/4814B60W40/06B60W40/08B60W50/06B60W50/14B60W2040/0881G01S7/497B60W2420/408
Inventor 坂田昂亮黑田昌芳
Owner HITACHI ASTEMO LTD