OBJECT RECOGNITION DEVICE
First Claim
1. A vehicle comprising:
- a sensor input unit including a Light Detection and Ranging (LIDAR) device, said LIDAR device including a laser ray transmission unit to transmit a plurality of laser rays so as to scan a surrounding area of the vehicle; and
a laser ray reception unit to receive reflected laser rays from the surrounding area of the vehicle;
a coordinate specifying unit to specify coordinates of reflection points for said reflected laser rays;
a reliability setting unit to indicate an object presence reliability value of whether an object is present in the surrounding area of the vehicle, said object presence reliability value being one of a continuous range of values;
a distribution map creation unit to create a distribution map of the object presence reliability values in the surrounding area of the vehicle; and
a region division unit to divide the distribution map into at least one region, wherein each region is an area of said distribution map having continuous object presence reliability values that are equal to or greater than a predetermined threshold value.
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Accused Products
Abstract
In an object recognition device, a reliability setting unit sets object presence reliability indicating the reliability of whether or not an object is present with respect to the surrounding area of a host vehicle. Then, a grouping unit groups the reflection points based on the object presence reliability in the area between the reflection points. For this reason, for example, even though two objects are adjacent to each other, in a case where the object presence reliability in the area between the reflection points of one object and the reflection points of the other object is low, the reflection points of the two objects can be separately grouped without being grouped into a single group. As a result, since it is possible to avoid mistakenly recognizing a plurality of objects in a single object, recognition accuracy of the object can be improved.
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Citations
18 Claims
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1. A vehicle comprising:
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a sensor input unit including a Light Detection and Ranging (LIDAR) device, said LIDAR device including a laser ray transmission unit to transmit a plurality of laser rays so as to scan a surrounding area of the vehicle; and a laser ray reception unit to receive reflected laser rays from the surrounding area of the vehicle; a coordinate specifying unit to specify coordinates of reflection points for said reflected laser rays; a reliability setting unit to indicate an object presence reliability value of whether an object is present in the surrounding area of the vehicle, said object presence reliability value being one of a continuous range of values; a distribution map creation unit to create a distribution map of the object presence reliability values in the surrounding area of the vehicle; and a region division unit to divide the distribution map into at least one region, wherein each region is an area of said distribution map having continuous object presence reliability values that are equal to or greater than a predetermined threshold value. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An object recognition device comprising:
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a sensor input unit including a Light Detection and Ranging (LIDAR) device, said LIDAR device including a laser ray transmission unit to transmit a plurality of laser rays so as to scan a surrounding area of a vehicle; and a laser ray reception unit to receive reflected laser rays from the surrounding area of the vehicle; a coordinate specifying unit to specify coordinates of reflection points for said reflected laser rays; a reliability setting unit to indicate an object presence reliability value of whether an object is present in the surrounding area of the vehicle, said object presence reliability value being one of a continuous range of values; a distribution map creation unit to create a distribution map of the object presence reliability values in the surrounding area of the vehicle; and a region division unit to divide the distribution map into at least one region, wherein each region is an area of said distribution map having continuous object presence reliability values that are equal to or greater than a predetermined threshold value. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A method of detecting an object in an area surrounding a vehicle comprising:
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transmitting a plurality of laser rays from a Light Detection and Ranging (LIDAR) device of a sensor input unit so as to scan the surrounding area of the vehicle; receiving reflected laser rays from the surrounding area of the vehicle; specifying coordinates of reflection points for said reflected laser rays; setting an object presence reliability value of whether an object is present in the surrounding area of the vehicle, said object presence reliability value being one of a continuous range of values; creating a distribution map of the object presence reliability values in the surrounding area of the vehicle; and dividing the distribution map into at least one region, wherein each region is an area of said distribution map having continuous object presence reliability values that are equal to or greater than a predetermined threshold value. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification