External environment recognition device

Abstract

Regardless of the irradiation method of the distance measuring sensor, degradation of recognition performance due to a change in the installation position of the distance measuring sensor is suppressed. An outside environment recognition device () that recognizes an outside environment around a vehicle according to an observation result of a LiDAR sensor () installed in the vehicle is configured to include a storage unit () that stores posture information of an installation posture of the LiDAR sensor in a three-dimensional predetermined coordinate system, a coordinate signal conversion unit () that converts a plurality of observation points obtained from the LiDAR sensor into a plurality of three-dimensional coordinate signals on the basis of the posture information in the predetermined coordinate system, a road surface candidate point extraction unit () that extracts a plurality of road surface candidate points indicating a road surface from the plurality of three-dimensional coordinate signals based on a height component of each of the three-dimensional coordinate signals, a road surface plane estimation unit () that estimates a road surface plane based on the plurality of road surface candidate points, and a calibration amount calculation unit () that calculates a calibration amount of the posture information based on a reference plane set based on the predetermined coordinate system and the road surface plane.