Target acquisition device

Abstract

A target acquisition device (100) mounted in a vehicle comprises: a radar specification unit (10) that specifies radar target position information of a radar acquisition target, acquired by a radar (21), in an XY plane with the X-axis representing the vehicle width direction and the Y-axis representing the vehicle length direction; an image specification unit (10) that specifies an image acquisition region of an image acquisition target, acquired on the basis of a captured image provided by an imaging device (22), as image target position information, wherein the image acquisition region represents the position of the image acquisition target relative to the base point in the XY plane; and a self-target determination unit (10).Among the units, the image specification unit defines the Y-axis range of the image acquisition region in the Y-axis direction based on the orientation from the base point to both ends in the X-direction of the image acquisition target in the captured image and an expected minimum width value and an expected maximum width value in the X-axis direction.