External environment recognition device
An external environment recognition device 101 estimates a blind spot region around a host vehicle based on information detected by a sensor that detects a target around the host vehicle. The external environment recognition device 101 includes a visibility index determination unit 121 that calculates a visibility index of the target based on a coordinate point and a reflection intensity of the target detected by the sensor, and assigns the visibility index to a region from the host vehicle 200 to the coordinate point of the target, a visibility map storage unit 124 that stores the visibility index as a visibility map in association with the region, and a blind spot region estimation unit 127 that estimates the blind spot region based on the visibility map.
1 . An external environment recognition device that estimates a blind spot region around a host vehicle based on information detected by a sensor that detects a target around the host vehicle, the external environment recognition device comprising:
one or more processors configured to:
calculate a visibility index of the target based on a coordinate point and a reflection intensity of the target detected by the sensor, and assigns the visibility index to a region from the host vehicle to the coordinate point of the target;
store the visibility index as a visibility map in association with the region; and
estimate the blind spot region based on the visibility map.
2 . The external environment recognition device according to claim 1 , wherein the one or more processors are further configured to:
load the coordinate point detected by the sensor on polar coordinate plane data that is stored in the external environment recognition device and
use a sensor plane as an origin,
wherein the polar coordinate plane is configured by a cell group divided by a predetermined circumferential angle and a predetermined radial distance with the origin as a reference, and
estimate, as the blind spot region, a region farther from the origin than a cell to which the visibility index is assigned.
3 . The external environment recognition device according to claim 1 , wherein the one or more processors are further configured to:
change a range of the region to which the visibility index is assigned, based on the reflection intensity.
4 . The external environment recognition device according to claim 1 , wherein the one or more processors are further configured to:
extract a coordinate point having a short distance to a position of the host vehicle among one or a plurality of the coordinate points detected by the sensor, and
assign the visibility index to a region from the host vehicle to the extracted coordinate point.
5 . The external environment recognition device according to claim 1 , wherein the one or more processors are further configured to:
receive signals from a plurality of sensors,
generate the visibility map for each of the plurality of sensors, and
generate an integrated visibility map by integrating pieces of information included in a plurality of the visibility maps generated for the plurality of respective sensors.
6 . The external environment recognition device according to claim 2 , wherein the one or more processors are further configured to:
assign the visibility index to a cell group from one or a plurality of coordinate points detected in the cell group divided for each predetermined circumferential angle from the origin to a cell to which one coordinate point closest to the host vehicle belongs.
7 . The external environment recognition device according to claim 6 , wherein the one or more processors are further configured to:
assign the visibility index having a negative value to a cell group farther from the host vehicle than a cell group to which the visibility index is assigned among cell groups separated from the origin at every predetermined circumferential angle, and
adjust an estimation degree of the blind spot region in accordance with the visibility index having the negative value.
8 . The external environment recognition device according to claim 6 , wherein, the one or more processors are further configured to:
in response to determining that a plurality of visibility indexes are available to be assigned to a cell, in a region to which the cell belongs in the cell group, add and assign the plurality of visibility indexes to the cell.