Environment recognition device and environment recognition method
First Claim
1. An environment recognition device comprising:
- a position information obtaining unit that obtains position information of a target portion in a detection area of a luminance image, including a relative distance from a subject vehicle;
a grouping unit that groups target portions, of which positions differences in a vertical direction and a parallel direction with respect to a base line which corresponds to advancing direction of the subject vehicle fall within a first distance, into a target object;
a candidate determining unit that determines that the target object is a candidate of a wall, when the target portions included in the target object form a tilt surface tilting at a predetermined angle or more against a vertical plane with respect to a base plane which corresponds to the advancing direction of the subject vehicle; and
a wall determining unit that determines that the wall candidates, of which positions differences in the vertical direction and the parallel direction with respect to a base line which corresponds to the advancing direction of the subject vehicle fall within a second predetermined distance longer than the first predetermined distance, are a wall.
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Accused Products
Abstract
There are provided an environment recognition device and an environment recognition method. The device obtains position information of a target portion in a detection area, including a relative distance from a subject vehicle; groups continuous target portions into a target object of which position differences in a width direction vertical to an advancing direction of the vehicle and in a depth direction parallel to the advancing direction fall within a first distance; determines that the target object is a candidate of a wall, when the target portions forming the target object forms a tilt surface tilting at a predetermined angle or more with respect to a plane vertical to the advancing direction; and determines that the continuous wall candidates of which position differences in the width and depth directions among the wall candidates fall within a second predetermined distance longer than the first predetermined distance are a wall.
15 Citations
11 Claims
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1. An environment recognition device comprising:
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a position information obtaining unit that obtains position information of a target portion in a detection area of a luminance image, including a relative distance from a subject vehicle; a grouping unit that groups target portions, of which positions differences in a vertical direction and a parallel direction with respect to a base line which corresponds to advancing direction of the subject vehicle fall within a first distance, into a target object; a candidate determining unit that determines that the target object is a candidate of a wall, when the target portions included in the target object form a tilt surface tilting at a predetermined angle or more against a vertical plane with respect to a base plane which corresponds to the advancing direction of the subject vehicle; and a wall determining unit that determines that the wall candidates, of which positions differences in the vertical direction and the parallel direction with respect to a base line which corresponds to the advancing direction of the subject vehicle fall within a second predetermined distance longer than the first predetermined distance, are a wall. - View Dependent Claims (2, 3, 4, 5, 7, 8, 9, 10, 11)
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6. An environment recognition method comprising:
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obtaining position information of a target portion in a detection area of a luminance image including a relative distance from a subject vehicle; grouping target portions, of which positions differences in a vertical direction and a parallel direction with respect to a base line which corresponds to advancing direction of the subject vehicle fall within a first predetermined distance, into a target object; determining that the target object is a candidate of a wall, when the target portions included in the target object form a tilt surface tilting at a predetermined angle or more against a vertical plane with respect to a base plane which corresponds to the advancing direction of the subject vehicle; and determining that determines that the wall candidates, of which positions differences in the vertical direction and the parallel direction with respect to a base line which corresponds to the advancing direction of the subject vehicle fall within a second predetermined distance longer than the first predetermined distance, are a wall.
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Specification