Signal processing device
Provided is a signal processing device with which, even when detection objects differ among a plurality of sensors, it is possible to correctly obtain the relationship between a non-shared detection object and a detection object that is shared after fusion. The present invention: stores a first positional relationship (for example, inside and outside a host vehicle lane) between a first object (for example, a vehicle ahead) recognized on the basis of an image captured by an imaging device 301 , and a second object (for example, a white line); obtains the position of the first object on the basis of information about the first object recognized on the basis of information obtained from a sensor differing from the imaging device 301 , and of information about the first object recognized on the basis of the image captured by the imaging device 301 ; obtains a second positional relationship (for example, inside and outside the host vehicle lane) between the obtained first object, and the second object recognized on the basis of the image captured by the imaging device 301 ; and compares the first positional relationship and the second positional relationship to determine a final positional relationship of the first object and the second object.
1 . A signal processing device characterized by
recognizing a first object and a second object from an image captured by an imaging device, and storing a first positional relationship between the first object and the second object,
obtaining a position of the first object from information of the first object recognized on a basis of fusing information obtained from a sensor different from the imaging device and information of the first object recognized on a basis of an image captured by the imaging device,
obtaining a second positional relationship between the first object and the second object based on first sensor data recognizing the first object and second sensor data recognizing the second object, the first sensor data obtained from the sensor different from the imaging device, and the second sensor data recognized on a basis of an image captured by the imaging device,
generating a first reliability value corresponding to the imaging device based on a first device attribute of the imaging device and a second reliability value corresponding to the sensor different than the imaging device based on a second device attribute of the imaging device,
comparing the first positional relationship recognized based on an image captured by the imaging device with the second positional relationship recognized based on first sensor data obtained from the sensor different from the imaging device and second sensor data obtained from the imaging device to determine a final positional relationship between the first object and the second object, and
in response to determining that the first positional relationship does not match the second positional relationship, determining the final positional relationship as one of the first positional relationship or the second positional relationship based on the first reliability value and the second reliability value.
2 . The signal processing device according to claim 1 , wherein
the first device attribute and the second device attribute include at least one of a distance to the first object, a distance to the second object, or a sensor to be used.
3 . The signal processing device according to claim 1 , characterized by
storing the first positional relationship, the second positional relationship, and the final positional relationship, and when a number of times that a value associated with any two positional relationships selected from those positional relationships exceeds a prescribed value representing a threshold difference in distances represented by the any two positional relationships, making a notification indicating a signal abnormality.
4 . The signal processing device according to claim 1 , characterized by
recognizing, from an image captured by the imaging device, a first object group including a plurality of first objects including the first object and a second object group including a plurality of second objects including the second object, and storing, as the first positional relationship, positional relationships between the plurality of recognized first objects in the first object group, between the plurality of recognized second objects in the second object group, and between the first object group and the second object group,
storing a third positional relationship between the plurality of the first objects in the first object group recognized on a basis of information obtained from the sensor different from the imaging device,
obtaining a position of the first object group from information of the first object group recognized on a basis of information obtained from the sensor different from the imaging device and information of the first object group recognized on a basis of an image captured by the imaging device,
obtaining, as the second positional relationship, a positional relationship between the obtained first object group and the second object group recognized on a basis of an image captured by the imaging device, and
comparing the first positional relationship, the second positional relationship, and the third positional relationship, and determining a final positional relationship between the first object group and the second object group.
5 . The signal processing device according to claim 4 , characterized by
when comparing the first positional relationship, the second positional relationship, and the third position, comparing a first reliability regarding the first positional relationship, a second reliability regarding the second positional relationship, and a third reliability regarding the third positional relationship, and determining a final positional relationship between the first object group and the second object group.
6 . The signal processing device according to claim 4 , characterized by
storing the first positional relationship, the second positional relationship, the third positional relationship, and the final positional relationship, and when a number of times that a value associated with any two positional relationships selected from those positional relationships exceed a prescribed value representing a threshold difference in distances represented by the any two positional relationships, making a notification indicating a signal abnormality.