Toyota Jidosha Kabushiki Kaisha

Ryosuke Fukatani

Junya Ueno

Hideyuki Matsui

Hiroshi Sakamoto

Nobuhide Kamata

Kazuki Tamura

In step S, a color image CIMG is acquired. In step S, a distance image DIMG is acquired. In step S, the color image CIMG is projected onto the distance image DIMG. An alignment of the color image CIMG and the distance image DIMG is performed prior to the projection of the color image CIMG. In step S, it is determined whether or not a basic condition is satisfied. In S, it is determined whether or not a special condition is satisfied. If a judgement result of the steps Sor Sis positive, then in step Sa first data point and a second data point on the distance image DIMG are associated. If bot of the judgement results of steps Sand Sare negative, data points are not associated in step S

Object recognition device

An object recognition apparatus include a storage device and a processor. The storage device stores peripheral information and tolerance information. The tolerance information is information in which the degree of tolerance for the undetected object is represented for each class of the object. The peripheral information is acquired by a sensor device provided in the vehicle. The processor performs object recognition process for recognizing an object around the vehicle. In the object recognition process, the processor identifies the object and its class to be detected based on the peripheral information, and calculates the likelihood that is a parameter representing the probability of detection of the object. Further, the processor calculates a likelihood threshold corresponding to the object based on the tolerance information, and determines whether to output the identification result of the object based on the comparative between the likelihood and the likelihood threshold.

Object recognition apparatus

A vehicle control device controlling a vehicle capable of switching between an automatic driving mode and a driver involvement mode in which a driver is involved includes a blind spot boundary specifying unit configured to specify a boundary of a region becoming a blind spot of the vehicle, a traveling plan generation unit configured to generate a traveling plan in which the vehicle does not collide with a moving body assumed to be positioned on the blind spot boundary specified by the blind spot boundary specifying unit, a determination unit configured to determine whether or not the traveling plan generated by the traveling plan generation unit satisfies a predetermined condition, and a switching unit configured to switch the vehicle from the automatic driving mode to the driver involvement mode when the determination unit determines that the traveling plan satisfies the predetermined condition.

Growing community of inventors

Susono, Japan

Ryosuke Fukatani