Sensor evaluation device
A sensor evaluation device evaluates a first sensor mounted on a sensor-mounting object. The sensor evaluation device is provided with a specific event detecting unit, and a recording unit. The specific event detecting unit detects a specific event which is at least one of (a) an unrecognized event where a second sensor mounted on the sensor-mounting object recognizes a first target whereas the first sensor does not recognize the first target, and (b) a misrecognized event where the first sensor recognizes a second target whereas the second sensor does not recognize the second target. The recording unit records information on the specific event when detecting the specific event.
1 . A sensor evaluation device, which is a sensor evaluation device configured to evaluate a first sensor mounted on a sensor-mounting object, comprising:
a specific event detecting unit configured to:
(a) perform an unrecognized event detecting process which detects an unrecognized event where a second sensor mounted on the sensor-mounting object recognizes a first target whereas the first sensor does not recognize the first target, the second sensor including a camera in the unrecognized event detecting process in response to a first distance between the sensor-mounting object and the first target being less than a first threshold value, and
(b) perform a misrecognized event detecting process a misrecognized event where the first sensor recognizes a second target whereas the second sensor does not recognize the second target, the second sensor including a LiDAR or a millimeter-wave radar in the misrecognized event detecting process in response to a second distance between the sensor-mounting object and the second target being equal to or greater than a second threshold value; and
a recording unit configured to record information on the specific event when the specific event detecting unit detects as the specific event at least one of the unrecognized event and the misrecognized event.
2 . The sensor evaluation device according to claim 1 , further comprising:
a notifying unit configured to inform detection of one or more of the unrecognized event or the misrecognized event to an operator when the specific event detecting unit detects one or more of the unrecognized event or the misrecognized event; and
an input unit configured to receive an input by the operator,
wherein, the recording unit is configured to record information on one or more of the unrecognized event or the misrecognized event on condition that the input unit receives the input after the notifying unit informs the detection.
3 . The sensor evaluation device according to claim 1 ,
wherein the sensor-mounting object is a vehicle.
4 . The sensor evaluation device according to claim 1 ,
wherein the first sensor and the second sensors each include one or more selected from a group consisting of a camera, LiDAR, millimeter-wave radar, and sonar.
5 . The sensor evaluation device according to claim 1 ,
wherein the second sensor includes a millimeter-wave radar or the LiDAR in the unrecognized event detecting process when a distance between the sensor-mounting object and the first target is equal to or greater than the first threshold value.
6 . The sensor evaluation device according to claim 1 , wherein the second sensor includes a sensor other than the LiDAR in the misrecognized event detecting process when a distance between the sensor-mounting object and the first target is less than the second threshold value.