Recognition device
Provided is a recognition device that can accurately recognize a position where a vehicle is to be stopped. The recognition device according to the present invention includes: a distance calculation unit 210 that calculates a map information distance between a host vehicle and a target feature based on map information; a stop line detection processing unit 130 a that, in a case where the map information distance is equal to or less than a determination value, sets a detection area for detection of the target feature based on the map information distance, detects the target feature within the detection area, and calculates an actually-measured distance between the host vehicle and the target feature; and a stop line position unifying unit 310 that unifies data of the map information distance and data of the actually-measured distance to calculate a unification result of a distance between the host vehicle and the target feature.
1. A recognition device comprising:
a first sensor that detects a first feature; and
at least one information source different from the first sensor,
wherein an operation start time of the first sensor is determined based on operation start information output from the first sensor or the information source,
distance information on a distance to the first feature sent to the first sensor is corrected based on a result of detection of positional information of a second feature and position error information of the second feature, and
a range of feature recognition processing performed by the first sensor is narrowed based on a value of the position error information of the second feature.
2. The recognition device according to claim 1 , wherein the first sensor limits a range of detection of the first feature based on positional information of the first feature output from the first sensor or the information source.
3. The recognition device according to claim 1 wherein the first sensor changes an area where the first feature is detected based on accuracy information of positional information of the first feature output from the first sensor or the information source.
4. The recognition device according to claim 1 , wherein the information source is information obtained through V2X on a result of feature detection performed by another vehicle.
5. The recognition device according to claim 1 , wherein the information source is stored information of a feature detected by using the first sensor.
6. The recognition device according to claim 1 , further comprising a function of generating host vehicle stop position information based on a result of detection of a stop position of another vehicle.
7. The recognition device according to claim 1 , further comprising a function of generating host vehicle stop position information based on a virtual stop line that is not drawn on a road surface.