JP2013016052A - Object recognition device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an object shape recognition device for vehicle for increasing the accuracy of the shape recognition of an object having a complicate shape even when an ultrasonic sensor which is low in directivity is used.SOLUTION: An object shape estimation part 8 of an object shape recognition device 1 for vehicle is configured to set a distance point showing the position of an object to at least either a detection point on an object line in the neighborhood of the front side critical line or a detection point on the object line in the neighborhood of the rear side critical line of a self-vehicle on a fan-shaped horizontal surface crossing an irradiation range with detection distances by ultrasonic sensors 2 and 3, and to, on the basis of the detection distances on time when the distance from the self-vehicle is detected by the ultrasonic sensors 2 and 3 and on time before and after the pertinent time by a predetermined time among the detection distances repeatedly detected according as the self-vehicle moves, set the distance point to the front side detection point when the detection distance on each time approaches the self-vehicle, and to set the distance point to the rear side detection point when the detection distance on each time recedes from the self-vehicle, and to recognize the shape obtained by connecting the set distance points as the shape of the object.

Description

  The present invention relates to a vehicle object recognition device that recognizes the shape of an object using an ultrasonic sensor.

  In recent years, driving support systems that support driving of drivers in the automobile industry have become widespread, and in particular, development for automatic driving has been promoted in driving support systems during parking. This type of system requires that the location of obstacles be accurately identified, especially when driving in a parking environment where there is only a small space around which there are multiple obstacles. It is necessary to detect the accuracy. Therefore, it is suitable to use a laser radar with high position detection accuracy as the obstacle position specifying means, but since it is expensive, a technique for specifying the position with high accuracy using an inexpensive ultrasonic sensor is required.

  The ultrasonic sensor generates ultrasonic waves mainly by applying a voltage to the piezoelectric element, irradiates the ultrasonic waves to the object, receives a reflected wave returning from the object, and performs from the irradiation to the reflection. The distance from the object to the ultrasonic sensor is detected based on the time, and the distance is defined as the distance from the host vehicle to the object.

  Since the ultrasonic wave is a sound wave, it has a feature that the directivity is low and the detection range angle is large by diffusing. Therefore, the ultrasonic sensor normally detects the shortest distance from the ultrasonic sensor to the object as the distance from the own vehicle to the object when the object exists within the predetermined irradiation range of the ultrasonic sensor. It is impossible to detect the position within the irradiation range of the ultrasonic sensor, that is, the direction of the object based on the position of the host vehicle.

  Therefore, in estimating the position of the object within the irradiation range using the ultrasonic sensor, the direction of the object relative to the host vehicle is the direction of the center of the ultrasonic irradiation range having a substantially conical shape (ultrasonic irradiation direction). In general, the position of the object is estimated based on the detected distance.

  In particular, the estimation of the shape of an obstacle using an ultrasonic sensor is performed by repeatedly estimating the position as the vehicle moves and connecting the estimated positions.

  However, in the case of such a method, even if there are actually no obstacles in the ultrasonic irradiation direction, if some obstacles are within the irradiation range of the ultrasonic sensor, The reflected wave of the ultrasonic wave from a part is detected, and the distance based on the reflected wave is recognized as the distance from the own vehicle to the obstacle in the ultrasonic wave irradiation direction. Therefore, the shape of the obstacle estimated from the detected distance becomes a shape extending in a direction parallel to the traveling direction of the host vehicle as compared with the actual shape of the obstacle, and the shape of the obstacle cannot be accurately recognized.

  Therefore, conventionally, a technique has been proposed in which the position of an obstacle is repeatedly estimated as the host vehicle moves, and the shape of the parked vehicle is re-estimated based on a line connecting the positions (Patent Literature). 1).

JP 2011-34297 (see paragraphs 0051 to 0063, FIG. 8)

  However, in the technique of Patent Document 1, the front position of the parked vehicle is estimated based on a line obtained by connecting the estimated positions, and the shape of the parked vehicle and the vehicle itself are applied by applying a general vehicle shape to the position. Since the positional relationship with the vehicle is re-estimated, it is only possible to search for a parking space between the parked vehicles, and it is not possible to cope with a complicated parking environment in which the shape of the obstacle is uneven. In addition, since it is difficult to estimate the position when the parked vehicle is located obliquely, an automatic parking system that is required to accurately detect the position of an obstacle in a complicated parking environment is disclosed in Patent Document 1 described above. Applying technology lacks practicality in accuracy.

  In addition, the position estimation is repeated as the host vehicle moves, and the shape of the parked vehicle is re-estimated by performing more complicated calculation processing from the line connecting these points. Therefore, an expensive arithmetic unit is required, and the vehicle cost increases accordingly.

  The present invention has been made in view of the above problems, and an object of the present invention is to accurately detect the shape of a complicated obstacle and to reduce the cost associated therewith.

  In order to achieve the above-described object, in the vehicle object shape recognition device of the present invention, an ultrasonic sensor that detects a distance from an object within an irradiation range that spreads conically toward the side of the host vehicle to the host vehicle is provided. In the vehicle object recognition device for recognizing the shape of the object by repeatedly detecting the distance from the object to the host vehicle as the host vehicle moves, the distance point indicating the position of the object is A front detection point on the front target line in the vicinity of the front critical line of the own vehicle and a rear side in the vicinity of the rear critical line at a detection distance from the own vehicle by the ultrasonic sensor and across the irradiation range. Setting means for setting at least one of the detection points on the rear side on the target line; and recognition means for recognizing a shape obtained by connecting the set distance points as the shape of the object. Of the detection distances that are repeatedly detected as the host vehicle moves, based on the detection time at which the ultrasonic sensor detects the distance from the host vehicle and the respective detection distances at times before and after that predetermined time, The distance point is set as the front detection point when the detection distance at each time approaches the host vehicle as the vehicle moves, and the detection point is set as the rear detection point when moving away. Item 1).

  According to the first aspect of the present invention, the distance point indicating the position of the object is the detection distance from the own vehicle by the ultrasonic sensor, and the front side of the front side near the front critical line of the own vehicle on the fan-shaped horizontal plane crossing the irradiation range. It is set to at least one of the front side detection point on the side target line and the rear side detection point on the rear side target line near the rear critical line.

  In the setting means described above, out of the detection distances that are repeatedly detected with the movement of the host vehicle, the detection time for detecting the distance from the host vehicle by the ultrasonic sensor and the respective detection distances at the time before and after that predetermined time Based on the above, when the detection distance at each time approaches the own vehicle as the host vehicle moves, the above-described distance point is set as the front side detection point, and when moving away, it is set as the rear side detection point.

  When the detected distance at each time approaches the host vehicle, the shape of the object within the irradiation range of the ultrasonic sensor at that time (detection time) is inclined to the right with respect to the traveling direction of the host vehicle. Probability is high. In such a case, the point representing the shortest distance from the ultrasonic sensor to the object is the front detection point. Therefore, the object position can be accurately recognized by setting the distance point indicating the object position as the front detection point. it can.

  Further, when the detection distance at each time is far from the own vehicle, it is highly likely that the shape of the object is inclined obliquely to the left with respect to the traveling direction of the own vehicle. In such a case, the point representing the shortest distance from the ultrasonic sensor to the object is the detection point on the rear side. Therefore, the position of the object is accurately recognized by setting the distance point indicating the position of the object as the detection point on the rear side. it can.

  And the shape which connected these distance points set with the movement of the own vehicle is recognized as the shape of an obstacle.

  In this way, a distance point that accurately indicates the position of the obstacle is set from the relationship of the detected distance at each time, this setting is repeated as the host vehicle moves, and the shape formed by connecting these set distance points is obstructed. Since it is recognized as the shape of an object, the shape of a complicated obstacle can be recognized with high accuracy.

  In addition, since it is possible to accurately recognize the shape of an obstacle without performing complicated calculations as in the prior art, it is possible to recognize the shape of an object with a low-cost configuration without requiring an expensive calculation device.

It is a block diagram of the object recognition device for vehicles of one embodiment of the present invention. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is explanatory drawing of obstruction map production | generation. It is a flowchart for operation | movement description of the vehicle object recognition apparatus of FIG.

  An embodiment of the present invention will be described with reference to FIGS. 1 is a block diagram of an object recognition apparatus for a vehicle according to an embodiment of the present invention, FIGS. 2 to 7 are explanatory diagrams of setting each detection point, FIG. 8 is an explanatory diagram of object shape recognition, and FIG. FIG. 10 is a flowchart for explaining the operation of FIG.

(Constitution)
A configuration of a vehicle object shape recognition apparatus 1 according to an embodiment of the present invention will be described with reference to FIG.

  The left side ultrasonic sensor 2 and the right side ultrasonic sensor 3 are sensors for measuring the distance from the host vehicle 10 to an object, and are respectively installed on the left and right side surfaces of the host vehicle 10. These ultrasonic sensors 2 and 3 irradiate ultrasonic waves toward an object on the side of the host vehicle 10, detect a reflected wave from the object, and detect a distance from the host vehicle 10 to the object. At this time, since the ultrasonic wave is irradiated in a substantially conical shape, the irradiation range becomes a detection range for detecting the distance to the object, but in order to suppress the influence of the reflected wave from the ground as much as possible, the irradiation of the ultrasonic wave The range is a wedge shape that flattens the cone and spreads in the horizontal direction. Further, the distance detection is continuously performed at regular time intervals, and the object shape can be estimated by continuously detecting the distance from the host vehicle 10 to the object as the host vehicle 10 moves. .

  The vehicle speed sensor 4 is used for detecting the speed of the host vehicle 10, and the steering angle sensor 5 is used for detecting the steering wheel steering angle of the host vehicle 10.

  The vehicle movement amount management unit 6 calculates the movement amount of the host vehicle 10 based on information on the vehicle speed and the steering angle of the host vehicle 10 detected by the vehicle speed sensor 4 and the steering angle sensor 5, and the calculated movement amount of the host vehicle 10. (Including the moving direction) is sent to the ranging data management unit 7. This calculation of the amount of movement is performed at regular time intervals as the host vehicle 10 moves.

  The distance measurement data management unit 7 estimates the position of the host vehicle 10 on a map, which will be described later, based on the movement amount data of the host vehicle 10 sent from the vehicle movement amount management unit 6, and the position data (x, y Distance measurement data regarding the detected distance from the ultrasonic sensors 2 and 3 to the object obtained from the left and right side ultrasonic sensors 2 and 3 at that position, and the distance measurement data. This is sent to the object shape estimation unit 8.

  The object shape estimation unit 8 is a distance from the vehicle 10 by the ultrasonic sensors 2 and 3 among the detection distances based on the distance measurement data acquired from the distance measurement data management unit 7 that is repeatedly detected as the host vehicle 10 moves. A distance point indicating the position of the object is set based on the detection time at which the object is detected and the respective detection distances at the time before and after the predetermined time. Such a setting function of the object shape estimation unit 8 corresponds to the setting means in the present invention, and this setting function will be described below.

  As described above, the ultrasonic sensors 2 and 3 detect the shortest distance from the ultrasonic sensor to the object as the distance from the own vehicle 10 to the object, but the object is present at any position within the irradiation range of the ultrasonic sensor. In other words, the direction of the object based on the position of the host vehicle 10 cannot be detected. Therefore, as shown in FIG. 2, taking the left side ultrasonic sensor 2 as an example, the object shape estimation unit 8 determines the distance point indicating the position of the obstacle 11 from the own vehicle by the ultrasonic sensors 2 and 3. On the front-side detection point 12a on the front-side object line 12 near the front-side critical line of the own vehicle 10 in the fan-shaped horizontal plane that crosses the ultrasonic irradiation range at the detection distance, and on the rear-side object line 13 near the rear-side critical line It is set to at least one of the rear side detection points 13a.

  For example, as shown in FIG. 3, when the distance from the vehicle 10 to the obstacle 11 is detected by the ultrasonic sensor 2, the object shape estimation unit 8 only detects the distance measurement data and a predetermined time Δt of the detection time. Ranging data at the previous time (previous time) is acquired from the ranging data management unit 7, and ranging data at a time (subsequent time) after a predetermined time Δt from the detection time is obtained from the ranging data management unit 7. get. In the case of FIG. 3, the detection distance at the detection time is shorter than the detection distance obtained from the distance measurement data at the previous time, and the detection distance at the later time is shorter than the detection distance at the detection time. It can be seen that is approaching the host vehicle 10.

  In such a case, since the shape of the obstacle in the ultrasonic irradiation range of the ultrasonic sensor 2 at the detection time is likely to be inclined obliquely to the right with respect to the host vehicle 10, the object shape estimation unit 8 Estimates that the shape of the obstacle 11 is inclined obliquely to the right.

  By the way, as described above, the ultrasonic sensor 2 detects the shortest distance from the ultrasonic sensor 2 to the obstacle as the distance from the own vehicle 10 to the obstacle 11, but from the ultrasonic sensor 2 to the obstacle 11 at the detection time. Since the point indicating the shortest distance is the front detection point 12a, the front detection point 12a accurately indicates the position of the obstacle 11. Therefore, when the detection time and the detection distance of the time before and after the predetermined time approach the own vehicle 10, the object shape transition unit 8 sets the distance point indicating the position of the obstacle 11 as the front detection point 12a. Set.

  As shown in FIG. 4, when it is found from the comparison result of the detection distances of the detection time, the previous time, and the subsequent time that the obstacle 11 is moving away from the host vehicle 10, the ultrasonic sensor 2 at the detection time. Since there is a high possibility that the shape of the obstacle 11 in the irradiation range is inclined to the left with respect to the own vehicle 10, the object shape estimation unit 8 inclines the shape of the obstacle 11 to the left. Estimated shape.

  In such a case, since the point indicating the shortest distance from the ultrasonic sensor 2 to the obstacle 11 at the detection time is the rear side detection point 13a, the front side detection point 13a accurately indicates the position of the obstacle 11. Therefore, when the detection time and the detection distance of the time before and after the predetermined time are farther than the own vehicle 10, the object shape transition unit 8 sets the distance point indicating the position of the obstacle 11 as the rear detection point 13a. To do.

  As shown in FIG. 5, when the detection distance of the detection time is longer than the detection distance of the previous time and the detection distance of the later time is shorter than the distance of the detection time, the irradiation range of the ultrasonic sensor 2 at the detection time It is difficult to estimate the shape of the obstacle 11 in the bending point α. Also, as shown in FIG. 6, the detection time ultrasonic sensor is also used when the detection distance of the detection time is shorter than the detection distance of the previous time and the detection distance of the later time is longer than the detection distance of the detection time. It is difficult to estimate the shape at the bending point β of the obstacle 11 within the irradiation range of 2. Therefore, in these cases, the object shape estimation unit 8 sets the distance points indicating the position of the obstacle 11 to the front side 12a and the rear side detection point 13a, respectively.

  Furthermore, as shown in FIG. 7, when the detection distances at the detection times described above are all the same distance, the shape of the obstacle 11 in the irradiation range of the ultrasonic sensor 2 at the detection time is as follows. It can be estimated to be parallel to the traveling direction. However, since the point indicating the shortest distance from the ultrasonic sensor 2 to the obstacle 11 at this time is in the ultrasonic irradiation direction, the distance indicating the position of the obstacle 11 is set to either the front side 12a or the rear side detection point 13a. It is not appropriate to set it. Therefore, when the respective detection distances at the respective detection times are not changed, the object shape estimation unit 8 sets distance points indicating the positions of the obstacles 11 to the front detection point 12a and the rear detection point 13a, respectively.

  As described above, the object shape estimation unit 8 is based on the respective detection distances at the respective detection times, except when the detection distance at each time approaches or moves away from the own vehicle 10 as the host vehicle 10 moves. A distance point indicating the position of the obstacle 11 is set for each of the front detection point 12a and the rear detection point 13a.

  Next, the object shape estimation unit 8 recognizes the shape obtained by connecting the set distance points 12a and 13a as the shape of the obstacle 11 (recognition means in the present invention). For example, as illustrated in FIG. 8, when there is an obstacle having a zigzag shape represented by a dotted line on the left side in the traveling direction of the host vehicle, the object shape estimation unit 8 causes the host vehicle 10 of the obstacle 11 to move along with the movement of the host vehicle 10. Each distance point indicating the position of the portion inclined rightward with respect to the traveling direction is set as the front detection point 12a, and the distance point indicating the position of the convex portion of the obstacle 11 is set as the front detection point 12a and the rear. The distance detection point 13a is set to each of the side detection points 13a, the distance point indicating the position of the obliquely inclined portion to the left is set as the rear detection point 13a, and the shape obtained by connecting the detection points 12a and 13a is connected to the obstacle 11 Recognize as a shape. In this way, the shape of the obstacle 11 having a complicated shape tilted rightward or leftward can be accurately recognized.

  The obstacle map generation unit 9 generates a map around the host vehicle 10 based on the object shape recognized by the object shape estimation unit 8. For example, when recognizing a parking space using the vehicle object recognition device 1 of the present embodiment, as shown in FIG. 9, with the driver's button operation or the like as the trigger, the position of the host vehicle 10 at that time is the origin 14. A coordinate plane is set in which the traveling direction of the host vehicle 10 is the Y axis, and the direction perpendicular thereto is the X axis.

  As the host vehicle 10 moves, the ultrasonic sensors 2 and 3 continue to detect the distance from the host vehicle 10 to the parked vehicle 15, and the object shape estimation unit 8 estimates the shape of the parked vehicle 15 based on the data. To do. At this time, the position of the host vehicle 10 is estimated based on information about the speed and the steering angle of the host vehicle 10 detected from the vehicle speed sensor 4 and the steering angle sensor 5, and the distance measurement data of the ultrasonic sensors 2 and 3 at that time are also stored. In addition, a parked vehicle 15 corresponding to the size and position of the parked vehicle 15 is generated on the map, and the parking space is recognized by repeating this generation.

  Next, operation | movement of the vehicle object recognition apparatus 1 of this embodiment is demonstrated with reference to the flowchart of FIG.

  First, with the button operation of the driver as an opportunity, the origin 14 and the XY coordinate plane indicating the position of the host vehicle 10 at that time are set. Then, based on information about the speed and steering angle of the host vehicle 10 detected by the vehicle speed sensor 4 and the steering angle sensor 5, the vehicle travel amount estimation unit 6 calculates the travel amount (including the travel direction) of the host vehicle 10. Then, the position of the host vehicle 10 in the set coordinate plane is estimated (step S2), and distance measurement data is acquired from the ultrasonic sensors 2 and 3 (step S1).

  Next, in step S2, the object shape estimation unit 8 determines whether or not each of the distance measurement data until the detection time of the acquired distance measurement data and the time before 2Δt hours exists in the distance measurement data management unit 7. If the distance measurement data exists, the object shape estimation unit 8 automatically detects the detected distances at these times as the host vehicle 10 moves based on the detected distances at the three times (step S3). When approaching the vehicle 10, the distance point indicating the position of the obstacle 11 at a time Δt before the detection time is set as the front detection point 12 a (step S 4), and when moving away from the host vehicle 10, the rear side detection is performed. Set to point 13a (step S5), otherwise set to front detection point 12a and rear detection point 13a (step S6). If there is no ranging data up to 2Δt hours before the detection time of the ranging data, step 2 is NO and the distance detection is performed until the data up to 2Δt hours is stored in the ranging data management unit 7. Repeated.

  Next, the set detection points 12a and 13a are connected to the previously set detection points with a line (step S7), and the line is added to the peripheral map (step S8). It is determined whether there is a parking space, and if there is, the driver is notified by displaying the presence of the parking space on the display screen of the liquid crystal display provided in the host vehicle 10 (step S10) and object shape recognition is performed. finish. If there is no parking space, the shape recognition of the obstacle 11 is repeated until a space is found.

  Therefore, according to the above-described embodiment, the object shape estimation unit 8 uses the distance point indicating the position of the object as the detection distance from the vehicle 10 by the ultrasonic sensors 2 and 3, and the object shape estimation unit 8 on the fan-shaped horizontal plane crossing the irradiation range. Set at least one of the front detection point 12a on the front target line 12 near the front critical line of the vehicle 10 and the rear detection point 13a on the rear target line 13 near the rear critical line, The setting means of the object shape estimation unit 8 includes a detection time for detecting a distance from the own vehicle 10 by the ultrasonic sensors 2 and 3 and a predetermined time Δt among the detection distances repeatedly detected as the own vehicle 10 moves. If the detection distance at each time approaches the own vehicle 10 with the movement of the host vehicle 10 based on the respective detection distances at the previous and later times, the distance point is set to the front detection point 12a and moved away. Is set at the rear detection point 13a, and in other cases, it is set at each of the front detection point 12a and the rear detection point 13a, and the shape obtained by connecting the set distance points 12a and 13a as the shape of the object. Therefore, it is possible to accurately recognize the shape of the obstacle 11 having a complicated shape that is inclined diagonally right or left with respect to the traveling direction of the host vehicle 10.

  Further, the distance point indicating the position of the obstacle 11 from the respective detection distances at the three detection times can be determined as at least one of the front detection point 12a and the rear detection point 13a without performing complicated calculations as in the prior art. Since it is possible to accurately recognize the shape of the obstacle 11 by connecting these distance points 12a and 13a, which are set to any one and are repeatedly set as the host vehicle 10 moves, an expensive arithmetic unit is required. Therefore, the shape of the object can be recognized with a low-cost configuration.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the detection points are set at two points on the front side and the rear side, but in the examples shown in FIGS. 5 to 7, in addition to these, the center of the fan-shaped horizontal plane that crosses the ultrasonic irradiation range A detection time for detecting a distance from the own vehicle 10 by the ultrasonic sensors 2 and 3 among detection distances that are repeatedly detected as the own vehicle 10 moves by setting a center detection point on a central target line in the vicinity and the predetermined time. Based on the respective detection distances at the time before and after the time, when the detection distance at each time is close to or away from the own vehicle 10 as the host vehicle 10 moves (other cases), the center detection point is used. It may be set. Thereby, in the example shown in FIGS. 5-7, the shape of the obstruction 11 can be recognized still more accurately. Specifically, in the example shown in FIGS. 5 and 6, the accuracy of the detection distance to the bending points α and β of the obstacle 11 is improved, and the shape of the obstacle 11 is the same as in the example shown in FIG. When the traveling direction of the host vehicle 10 is parallel, the shortest distance from the ultrasonic sensors 2 and 3 to the obstacle 11 is the distance from the ultrasonic sensors 2 and 3 to the center detection point. The position of the object 11 is indicated accurately. Therefore, by setting such a center detection point, the shape in which the distance points that are repeatedly set as the host vehicle 10 moves is connected to the shape in which the distance points are set only on the front side and the rear side. Since the shape of the obstacle 11 is more accurate than the recognized shape, the accuracy of shape recognition can be further improved.

  In the above embodiment, the detection points are set on the front side target line 12 and the rear side target line 13 near the front side and the rear side critical line of the fan-shaped horizontal plane crossing the ultrasonic irradiation range. The target lines 12 and 13 may coincide with the rear critical line and the rear critical line, respectively.

DESCRIPTION OF SYMBOLS 1 ... Vehicle object shape recognition apparatus 2 ... Left side ultrasonic sensor 3 ... Right side ultrasonic sensor 7 ... Ranging data management part 8 ... Object shape estimation part (setting means, recognition means)
12 ... Front side target line 12a ... Front side detection point
13 ... Back side target line 13a ... Back side detection point

Claims (1)

An ultrasonic sensor for detecting a distance from an object within an irradiation range conically extending toward the side of the host vehicle to the host vehicle, and the distance from the object to the host vehicle as the host vehicle moves In the vehicle object recognition device for recognizing the shape of the object by repeating detection,
The distance point indicating the position of the object is a detection distance from the own vehicle by the ultrasonic sensor, and the front side on the front side target line in the vicinity of the front critical line of the own vehicle on the fan-shaped horizontal plane crossing the irradiation range. Setting means for setting at least one of the detection point and the detection point on the back side on the back side target line near the back side critical line;
Recognizing means for recognizing the shape obtained by connecting the set distance points as the shape of the object,
The setting means includes a detection time for detecting a distance from the own vehicle by the ultrasonic sensor and a detection distance at a time before and after the predetermined time among detection distances repeatedly detected as the vehicle moves. Based on the movement of the host vehicle, the distance point is set as the front detection point when the detection distance at each time approaches the host vehicle, and the detection point is set as the rear detection point when moving away. A vehicle object recognition device.

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