A pedestrian's judgment method and a determining device

摘要

improving pedestrian determination responsiveness when determining a pedestrian using a camera and radar along the way. External media recognition sensors that acquire forward information for a host vehicle (a) are provided to determine that a pedestrian (b) is present at a position in front of the host vehicle (a) using external media recognition sensors. In this pedestrian determination method, a front camera unit (1) and millimeter wave radar (2) are provided as the external medium recognition sensors. when a pedestrian candidate (b ') is detected at a position in front of the host vehicle (a) based on an image signal from the front camera unit (1), a matching area (c) is defined with the position of the detected pedestrian candidate (b?) as the center point. when the position of the object (d1) that is closest to the pedestrian candidate (b?) among the plurality of objects (d1, d2, d3) detected by reflected waves from millimeter wave radar (2) is within the area In this way, by establishing a match, the pedestrian candidate (b?) is determined as a pedestrian (b).