Title:
OBJECT SENSING DEVICE AND OBJECT SENSING METHOD
Document Type and Number:
WIPO Patent Application WO/2021/199609
Kind Code:
A1
Abstract:
The purpose of the present invention is to provide an object sensing device which is capable of classifying, into real images and mirror images, observation point groups outputted by a LiDAR when the road surface in the vicinity of a host vehicle is in a wet state, and utilizing a mirror image in sensing a real image. This object sensing device is for sensing an object around a vehicle on the basis of point group data of observation points observed by a LiDAR mounted on the vehicle, the object sensing device comprising: a road surface shape inference unit which infers the shape of a road surface; a road surface condition inference unit which infers the wet-dry state of the road surface; and an observation point determination unit which, in the case when it is inferred that the road surface is in a wet state, determines low observation points observed at positions lower by at least a predetermined amount than the inferred road surface. The sensing of the object is performed using point group data of the observation points other than the low observation points and point group data of inversion observation points obtained by inverting the low observation points with respect to the height of the road surface.
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Inventors:
SAKATA KOSUKE (JP)
KURODA MASAYOSHI (JP)
KURODA MASAYOSHI (JP)
Application Number:
PCT/JP2021/002152
Publication Date:
October 07, 2021
Filing Date:
January 22, 2021
Export Citation:
Assignee:
HITACHI ASTEMO LTD (JP)
International Classes:
G01S17/931; G01S17/89; G08G1/16
Domestic Patent References:
| WO2013035612A1 | 2013-03-14 |
Foreign References:
| US20160178802A1 | 2016-06-23 | |||
| JP2017166846A | 2017-09-21 |
Attorney, Agent or Firm:
TODA Yuji (JP)
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