| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique to suppress deterioration of identification performance for an object partially hiding.SOLUTION: A cluster indicating an object is formed on the basis of multiple distance measuring points whose distance is measured by a laser radar device (S12) and a feature quantity for identifying whether the cluster indicates an object which is a detection target is extracted from the cluster (S13). Hiding determination processing for determining whether a part of an object indicated by a notice cluster is hiding behind other object indicated by other cluster is performed (S14). Then, whether the notice cluster is a cluster indicating the object of the detection target is identified on the basis of a feature quantity of the notice cluster and a result of determination by the hiding determination processing about the notice cluster (S15). |
