| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique for suppressing erroneous determination of a target in target detection using a radar and a camera.SOLUTION: First target detection means (S110) detects a position of a first target having a first target feature point on the basis of a radar. Second target detection means (S120) detects a position of a second target having a second target feature point on the basis of a camera. The target feature point refers to a point inherent in a target and indicating a feature of the target. First state determination means (S130) determines that, in a predetermined range including one of a first corresponding point and a second corresponding point that are points corresponding to the position of the first target and the position of the second target, respectively, on an xy plane whose x direction is defined as a vehicle width direction and whose y direction is defined as a vehicle length direction, the other corresponding point is included. In this case, if the first feature corresponding point is included in an azimuth range of a predetermined angle including an azimuth of the second feature corresponding point relative to a predetermined reference point, second determination means (S140) determines that the first target is identical to the second target. |
