JP2022042239A - Object recognition controller and method for controlling object recognition - Google Patents

Abstract

To properly recognize a person.SOLUTION: A controller 20 as an object recognition controller includes: a picture data acquisition unit 21 for acquiring picture data taken by a camera 11 for imaging around a vehicle; a driver information acquisition unit 22 for acquiring driver information showing a degree of focus of the driver of a vehicle; a recognition processing unit 23 for determining that there is a specific object when a score which shows a possibility that there is the specific object for the picture data acquired by the picture data acquisition unit 21 is at least a threshold value; and a presentation processing unit 24 for presenting information of the specific object recognized by the recognition processing unit 23 to the driver of the vehicle. The recognition processing unit 23 changes the threshold value of the score on the basis of the driver information acquired by the driver information acquisition unit 22.SELECTED DRAWING: Figure 1

Description

The present invention relates to an object recognition control device and an object recognition control method.

In the recognition process using the person recognition dictionary, the person recognition in the captured image is determined to be a person when the score indicating the person-likeness is equal to or higher than a predetermined threshold value. There is known a technique for determining that an object is a pedestrian based on a high score indicating pedestrian-likeness using a recognition dictionary for captured images (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-015029

Normally, the driver of the vehicle visually confirms a person and a specific object that requires attention, such as a bicycle on which the person is riding, while driving. When the driver's concentration is reduced, the presence of a person or a specific object such as a bicycle on which the person is riding may be delayed or overlooked. In such a state, if a recognition omission occurs in the recognition processing of a person and a specific object such as a bicycle on which the person is riding, safety may be impaired.

The present invention has been made in view of the above, and an object of the present invention is to appropriately recognize an object.

In order to solve the above-mentioned problems and achieve the object, the object recognition control device according to the present invention includes a video data acquisition unit that acquires video data taken by a shooting unit that shoots the periphery of the vehicle, and an operation of the vehicle. When the score indicating the specific object-likeness is equal to or higher than the threshold value for the driver information acquisition unit that acquires the driver information indicating the degree of concentration of the person and the video data acquired by the video data acquisition unit, the specific object. The recognition processing unit includes a recognition processing unit that presents the information of the specific object recognized by the recognition processing unit to the driver of the vehicle, and the recognition processing unit includes the driver information acquisition unit. The threshold value is changed based on the acquired driver information.

The object recognition control method executed by the object recognition control device according to the present invention includes a video data acquisition step of acquiring video data taken by a shooting unit that shoots the periphery of the vehicle, and an operation indicating the degree of concentration of the driver of the vehicle. A driver information acquisition step for acquiring person information, and a recognition processing step for recognizing the video data acquired in the video data acquisition step as a specific object when the score indicating the specific object is equal to or higher than the threshold value. The recognition processing step includes the presentation processing step of presenting the information of the specific object recognized in the recognition processing step to the driver of the vehicle, and in the recognition processing step, the driver information acquired in the driver information acquisition step is included. Based on this, the threshold value is changed.

According to the present invention, there is an effect that the object can be recognized appropriately.

FIG. 1 is a block diagram showing a configuration example of an object recognition device having an object recognition control device according to the first embodiment. FIG. 2 is a flowchart showing a processing flow in the object recognition control device according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of an object recognition device having the object recognition control device according to the second embodiment.

Hereinafter, embodiments of the object recognition control device and the object recognition control method according to the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited to the following embodiments.

[First Embodiment]
<Object recognition device>
FIG. 1 is a block diagram showing a configuration example of an object recognition device 10 having a control unit 20 which is an object recognition control device according to the first embodiment. The object recognition device 10 recognizes a specific object by performing recognition processing using an object recognition dictionary on the video data. The object recognition device 10 notifies the driver of information about the recognized specific object.

The object recognition device 10 includes a camera (shooting unit) 11, an in-vehicle camera 12, a recognition dictionary storage unit 13, a display unit 14, and a control unit (object recognition control device) 20. The object recognition device 10 may be implemented as a function of, for example, a device having a safe driving support function, a navigation device, a drive recorder, etc., which are installed in advance in the vehicle.

The camera 11 is a camera that photographs the periphery of the vehicle. The camera 11 is mounted on the vehicle and photographs the traveling direction of the vehicle. The camera 11 is composed of a far-infrared camera, a visible light camera, or a combination of a far-infrared camera and a visible light camera. The camera 11 is arranged, for example, at a position where the front of the vehicle, which is the traveling direction of the vehicle, can be photographed. The camera 11 constantly captures images from the start of the engine to the stop of the engine, that is, while the vehicle is in operation. The camera 11 outputs the captured video data to the video data acquisition unit 21 of the control unit 20. The video data is, for example, a moving image composed of an image of 30 frames per second. In this embodiment, the camera 11 is arranged in front of the vehicle.

The in-vehicle camera 12 is a camera that photographs the interior of the vehicle. The in-vehicle camera 12 is arranged at a position where the face of the driver sitting in the driver's seat can be photographed. The in-vehicle camera 12 is composed of, for example, a visible light camera, a far-infrared camera, or a near-infrared camera. The in-vehicle camera 12 may be composed of, for example, a combination of a visible light camera and a far-infrared camera or a near-infrared camera. The in-vehicle camera 12 constantly captures an image from the start of the engine to the stop of the engine, that is, while the vehicle is in operation. The in-vehicle camera 12 outputs the captured in-vehicle video data to the video data acquisition unit 21 of the control unit 20. The in-vehicle video data is, for example, a moving image composed of an image of 30 frames per second.

The recognition dictionary storage unit 13 stores dictionary data for recognizing various objects from video data. The recognition dictionary storage unit 13 stores, for example, an object recognition dictionary capable of machine learning various images captured by a specific object and collating that the object included in the image data is a specific object. The recognition dictionary storage unit 13 is, for example, a storage device such as a ROM (Read Only Memory), a semiconductor memory element such as a flash memory, or an external storage device via a network.

The display unit 14 is a device that displays various types of information, and as an example, is a display device unique to the object recognition device 10, or a display device shared with other systems including a drive recorder and a navigation system. The display unit 14 is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Electro-luminescence) display. The display unit 14 displays a video based on the video signal output from the presentation processing unit 24 of the control unit 20. In the present embodiment, the display unit 14 is arranged at a position that can be visually recognized by the driver of the vehicle while driving.

<Object recognition control device>
The control unit 20 is, for example, an arithmetic processing unit (control device) configured by a CPU (Central Processing Unit) or the like. The control unit 20 loads the stored program into the memory and executes an instruction included in the program. The control unit 20 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 20 and the like. Therefore, the control unit 20 causes the object recognition device 10 to execute the object recognition method. Further, the control unit 20 is a computer that operates the program according to the present invention. The control unit 20 includes a video data acquisition unit 21, a driver information acquisition unit 22, a recognition processing unit 23, and a presentation processing unit 24, which are connected to the bus 20X.

The video data acquisition unit 21 acquires video data taken by the camera 11. More specifically, the video data acquisition unit 21 acquires video data output by the camera 11 and captured in front of the vehicle in the traveling direction.

The video data acquisition unit 21 acquires video data taken by the in-vehicle camera 12. More specifically, the video data acquisition unit 21 acquires in-vehicle video data output by the in-vehicle camera 12 and acquires video data in which the face of the driver of the vehicle is photographed.

The driver information acquisition unit 22 acquires driver information indicating the degree of concentration of the driver of the vehicle. In the present embodiment, the driver information acquisition unit 22 performs image processing on the in-vehicle video data taken by the in-vehicle camera 12 and acquires the driver information from the driver recognition result of recognizing the driver's face. More specifically, the driver information acquisition unit 22 recognizes the driver's eyes from, for example, in-vehicle video data, and acquires information indicating the opening degree of the eyes. The driver information acquisition unit 22 recognizes the driver's eyes from, for example, in-vehicle video data, and acquires information indicating the movement of the line of sight.

The driver information is information that can determine whether the concentration ratio of the driver is high or low. High concentration is, for example, a normal condition in which the driver does not feel drowsy. The low concentration is, for example, a state in which the driver feels drowsy and the driver may not be able to confirm the surroundings of the vehicle.

The recognition processing unit 23 recognizes a specific object around the vehicle from the video data acquired by the video data acquisition unit 21. The recognition processing unit 23 performs pattern matching on the video data using the object recognition dictionary stored in the recognition dictionary storage unit 13 to perform object recognition processing for recognizing a specific object. A known method can be used in the object recognition process. The recognition processing unit 23 may always perform processing while the object recognition device 10 is running.

The specific object includes a person, a two-wheeled vehicle including a bicycle on which the person is riding, and another vehicle.

The recognition processing unit 23 recognizes the video data acquired by the video data acquisition unit 21 as a specific object when the score indicating the specific object-likeness is equal to or higher than a predetermined threshold value. Let A (specified value) be the threshold value of the score at normal times. The score threshold is changed according to the driver information acquired by the driver information acquisition unit 22. Let B (B <A) be the threshold of the changed score.

The recognition processing unit 23 recognizes a specific object by changing the threshold value of the score based on the driver information acquired by the driver information acquisition unit 22. The recognition processing unit 23 acquires the driver information based on at least one of the driver recognition result for the video data captured by the driver, the driver's biometric information, and the continuous driving time by the driver. In the present embodiment, the recognition processing unit 23 acquires the driver information from the driver recognition result for the video data obtained by photographing the driver. When the driver information indicates that the concentration of the driver is low, the recognition processing unit 23 recognizes the driver information as a specific object by using a threshold value B lower than the threshold value A of the normal score. This makes it easier to recognize as a specific object when it indicates that the concentration of the driver is low. When the driver information indicates that the concentration of the driver is high, the recognition processing unit 23 recognizes the driver information as a specific object by using the threshold value A of the score at the normal time.

The recognition processing unit 23 determines that the concentration level is low, for example, when the driver information indicates that the state in which the opening degree of the driver's eyes is small continues for a predetermined period. The recognition processing unit 23 determines that the concentration level is low, for example, when the driver information indicates that the state in which the movement of the driver's line of sight is small continues for a predetermined period.

For example, the maximum score indicating the uniqueness of a specific object is 1.0. As an example, the threshold value A is 0.9 and the threshold value B is 0.7. For example, the recognition processing unit 23 normally determines that the detected object is a specific object when the score is 0.9 or more. For example, when the concentration of the driver is low, the recognition processing unit 23 determines that the detected object is a specific object when the score is 0.7 or more. For example, when the recognition processing unit 23 performs object recognition on the condition that the score is 0.7 or more, the recognition processing using a normal score threshold value when the driver's concentration level becomes high. Return to.

The score threshold value may be set for each specific object, in other words, for each object recognition dictionary.

The score threshold may be changed stepwise or linearly in proportion to the driver's concentration.

The presentation processing unit 24 presents the information of the specific object recognized by the recognition processing unit 23 to the driver of the vehicle. By presenting the information of the specific object recognized by the presentation processing unit 24, the driver of the vehicle is alerted to the specific object. The presentation processing unit 24 presents the recognized specific object information to the driver by using the display by the display unit 14 or the voice output from the voice output unit (not shown). Therefore, the presentation processing unit 24 functions as a display control unit when the information of the specific object is presented to the driver by the display by the display unit 14. More specifically, the presentation processing unit 24 generates an image that presents information to the driver of the vehicle. The presentation processing unit 24 generates, for example, presentation video data for displaying video data by superimposing a frame line on a recognized specific object range. The presentation processing unit 24 may generate presentation video data for displaying characters or icons that call attention to a specific object, for example. The presentation processing unit 24 may generate audio such as a warning sound to be output together with the video. The presentation processing unit 24 outputs a video signal for displaying the generated video to the display unit 14 to display the video. The presentation processing unit 24 may output an audio signal for outputting the audio generated together with the video to a speaker (not shown).

<Processing in the control unit>
Next, the flow of processing in the control unit 20 will be described with reference to FIG. FIG. 2 is a flowchart showing a processing flow in the control unit 20 which is the object recognition control device according to the first embodiment. When the object recognition device 10 is activated, the processing of the flowchart shown in FIG. 2 is disclosed. The start of the process of FIG. 2 is started under arbitrary conditions. For example, when the vehicle becomes available, such as when the engine of the vehicle equipped with the object recognition device 10 starts, or when the operation of the object recognition device 10 is started by the user's operation. Further, the process of step S101 may be executed on condition that the vehicle is running.

With the start of the process of FIG. 2, the control unit 20 starts shooting and object recognition processing (step S101). More specifically, the control unit 20 starts shooting by the camera 11. The control unit 20 acquires the video data output by the camera 11 by the video data acquisition unit 21. The control unit 20 recognizes a specific object around the vehicle from the video data acquired by the video data acquisition unit 21 by the recognition processing unit 23. The threshold value of the score of the object recognition process in step S101 is the threshold value A of the score at the normal time. For example, the control unit 20 determines that the detected object is a specific object when the score is 0.9 or more by the recognition processing unit 23. Further, the control unit 20 starts shooting by the in-vehicle camera 12. The control unit 20 acquires the in-vehicle video data output by the in-vehicle camera 12 by the video data acquisition unit 21. The control unit 20 proceeds to step S102.

At the same time as the processing in step S101 is started, the control unit 20 determines whether or not the concentration ratio is reduced (step S102). More specifically, the control unit 20 recognizes the driver's state from the video data acquired by the video data acquisition unit 21 by the driver information acquisition unit 22 and acquires the driver information. When the acquired driver information indicates that the concentration ratio of the driver is low (Yes in step S102), the control unit 20 proceeds to step S104. When the acquired driver information indicates that the concentration level of the driver is not low (No in step S102), the control unit 20 proceeds to step S103.

When it is shown that the concentration of the driver has not decreased (No in step S102), the control unit 20 executes the specific object recognition process by the recognition process unit 23 using the threshold value A of the normal score (No). Step S104). More specifically, the recognition processing unit 23 performs pattern matching on the video data, and if the score indicating the specific object-likeness is 0.9 or more, the recognition processing unit 23 determines that the detected object is the specific object. The control unit 20 proceeds to step S105.

When it indicates that the concentration of the driver is low (Yes in step S102), the control unit 20 recognizes the specific object by the recognition processing unit 23 using a threshold value B lower than the threshold value A of the normal score. The process is executed (step S104). More specifically, the recognition processing unit 23 performs pattern matching on the video data, and if the score indicating the specific object-likeness is 0.7 or more, the recognition processing unit 23 determines that the detected object is the specific object. As a result, when the degree of concentration is low, the detected object is more likely to be recognized as a specific object as compared with the normal time. The control unit 20 proceeds to step S105.

The control unit 20 determines whether or not the specific object has been recognized based on the object recognition result of the recognition processing unit 23 (step S105). When the control unit 20 determines that the specific object has been recognized (Yes in step S105), the control unit 20 proceeds to step S106. If the control unit 20 does not determine that the specific object has been recognized (No in step S105), the control unit 20 proceeds to step S107.

The control unit 20 displays a frame line in the range of the specific object recognized by the presentation processing unit 24 (step S106). More specifically, the control unit 20 causes the presentation processing unit 24 to superimpose a frame line surrounding a specific object around the vehicle on the video data and display it on the display unit 14. The control unit 20 proceeds to step S107.

The control unit 20 determines whether or not to end the shooting and object recognition processing (step S107). The control unit 20 determines that the shooting and the object recognition process are finished, for example, when the operation for ending the object recognition process is detected, or when the vehicle is stopped and the engine is turned off. When the control unit 20 determines that the shooting and the object recognition process are completed (Yes in step S107), the control unit 20 ends the process. If the control unit 20 does not determine that the photographing and object recognition processing is completed (No in step S107), the control unit 20 re-executes the processing in step S102.

<Effect>
As described above, in the present embodiment, the threshold value of the score in the object recognition process is changed according to the concentration degree of the driver of the vehicle. According to the present embodiment, it is possible to appropriately recognize a specific object according to the degree of concentration of the driver.

In the present embodiment, when it is shown that the concentration of the driver is low, the threshold value of the score in the object recognition process is lowered. According to the present embodiment, when the concentration of the driver is lowered and there is a possibility that the driver's attention to the person or the like is distracted, it is possible to make it easier to recognize the specific object. According to this embodiment, safer driving can be supported.

In the present embodiment, the driver information is acquired based on the driver recognition result for the video data of the driver. According to the present embodiment, it is possible to detect a state in which the driver's concentration is reduced from the in-vehicle video data captured by the driver.

The present embodiment presents to the driver information about the recognized specific object. This embodiment makes it easier for the driver to recognize a specific object in the object recognition process when there is a possibility that the driver's attention to the specific object may be distracted. As a result, according to the present embodiment, when there is a possibility that the driver's attention to the specific object may be distracted, it is possible to increase the opportunity to call the driver of the vehicle to pay attention to the specific object.

Further, in the present embodiment, when it is shown that the concentration of the driver is low, in order to lower the threshold value of the score in the object recognition process, a specific object such as a person who is partially hidden behind the object is used. Even if it is not recognized as a specific object in a normal score, it is recognized as a specific object. Therefore, the driver of the vehicle can more appropriately know the existence of the specific object.

Further, in the present embodiment, when it is shown that the concentration of the driver is low, the threshold value of the score in the object recognition process is lowered, so that the erroneous recognition of determining an object that is not a specific object as a specific object increases. .. However, even if it is a misrecognition, it is presented as the existence of a specific object, so that the driver of the vehicle can be made to drive with more emphasis on safety.

[Second Embodiment]
The object recognition device 10A according to the present embodiment will be described with reference to FIG. FIG. 3 is a block diagram showing a configuration example of an object recognition device 10A having a control unit 20A, which is an object recognition control device according to the second embodiment. The object recognition device 10A has the same basic configuration as the object recognition device 10 of the first embodiment. In the following description, the same components as those of the object recognition device 10 are designated by the same reference numerals or corresponding reference numerals, and detailed description thereof will be omitted. The object recognition device 10A is different from the first embodiment in that it has the biological sensor 15A and the processing in the driver information acquisition unit 22A and the recognition processing unit 23A of the control unit 20A.

The biological sensor 15A is a sensor that detects the biological information of the driver. The biological sensor 15A detects, for example, data capable of acquiring heart rate information indicating the driver's heartbeat, electroencephalogram information indicating the driver's brain wave, or respiratory rate information indicating the respiratory rate. The biosensor 15A is arranged, for example, on the steering. The biosensor 15A may be, for example, a function implemented in a portable electronic device worn by the driver on the wrist. The biosensor 15A is connected to the object recognition device 10A so as to be able to communicate data wirelessly or by wire.

The driver information acquisition unit 22A acquires driver information based on the biometric information acquired by the biosensor 15A. More specifically, the driver information acquisition unit 22A, for example, from the detection result of the biological sensor 15A, the heart rate information indicating the driver's heart rate, the information indicating the driver's blood oxygen concentration, or the respiratory rate indicating the respiratory rate. Get information etc.

The recognition processing unit 23A acquires the driver information from the driver's biological information. When the driver information indicates that the driver feels drowsy by the fluctuation analysis of the driver's heartbeat, the recognition processing unit 23A may determine that the concentration level is low. The recognition processing unit 23A determines that the concentration level is low when the driver information indicates that the information indicating the blood oxygen concentration of the driver tends to decrease or the driver feels drowsy. You may. When the driver information indicates that the driver's respiratory rate is low, the recognition processing unit 23A may determine that the concentration level is low.

As described above, in the present embodiment, when the biometric information indicates that the concentration of the driver is reduced, the threshold value of the score of the object recognition process is lowered. In the present embodiment, it is possible to detect a state in which the concentration of the driver is reduced based on the biological information of the driver. According to this embodiment, it is possible to appropriately recognize a specific object.

[Third Embodiment]
The object recognition device 10 according to the present embodiment will be described. The object recognition device 10 differs from the first embodiment in the processing in the driver information acquisition unit 22 and the recognition processing unit 23 of the control unit 20.

The driver information acquisition unit 22 acquires the continuous operation time by the driver as driver information. More specifically, the driver information acquisition unit 22 recognizes the driver's face from the in-vehicle video data. The driver information acquisition unit 22 recognizes the identity of the driver for the recognized face from the feature points including the contour of the face, the arrangement of the parts constituting the face, the shape and the size, and the like. The driver information acquisition unit 22 adds the continuous operation time while the same driver is continuously detected. When a temporary stop of the vehicle or a short engine stop of about several minutes is detected, the continuous operation time is continuously added. The driver information acquisition unit 22 resets the continuous operation time when it is detected that the driver has changed.

The recognition processing unit 23 acquires the continuous operation time by the driver as driver information. For example, when the continuous operation time is 2 hours or more, the recognition processing unit 23 may determine that the concentration level is low. The continuous operation time of 2 hours or more is a case where the same driver continues the operation without a break for 2 hours or more.

As described above, in the present embodiment, when the continuous operation time by the driver becomes long, the threshold value of the score of the object recognition process is lowered. In the present embodiment, it is possible to detect a state in which the concentration of the driver is reduced based on the continuous operation time by the driver. According to this embodiment, it is possible to appropriately recognize a specific object.

Although the object recognition device 10 according to the present invention has been described so far, it may be implemented in various different embodiments other than the above-described embodiment.

Each component of the illustrated object recognition device 10 is functionally conceptual and does not necessarily have to be physically configured as shown in the figure. That is, the specific form of each device is not limited to the one shown in the figure, and all or part of the device is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load and usage status of each device. You may.

The configuration of the object recognition device 10 is realized by, for example, a program loaded in a memory as software. In the above embodiment, it has been described as a functional block realized by cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

The above-mentioned components include those that can be easily assumed by those skilled in the art and those that are substantially the same. Further, the above configurations can be combined as appropriate. Further, various omissions, substitutions or changes of the configuration can be made without departing from the gist of the present invention.

<Modification example>
In addition to the driver information described above, various other methods can be applied to the acquisition of the driver information indicating the concentration level of the driver of the vehicle. For example, the emotion of the driver of the vehicle detected from the facial expression or the behavior of the driver of the vehicle may be used as the driver information indicating the degree of concentration of the driver of the vehicle. For example, if the driver's emotions indicate anger or impatience, it is determined that the concentration level is low.

Although described above as a device for assisting the driver of a vehicle, it may be used for object recognition processing in an autonomous driving vehicle. The object recognition device 10 includes an automatic driving control unit that outputs a control signal for controlling the vehicle to decelerate or stop when a specific object is recognized by the recognition processing unit 23. The object recognition device 10 may not include the display unit 14 and the presentation processing unit 24.

10 Object recognition device 11 Camera (shooting unit)
12 In-vehicle camera 13 Recognition dictionary storage unit 14 Display unit 20 Control unit (object recognition control device)
21 Video data acquisition unit 22 Driver information acquisition unit 23 Recognition processing unit 24 Presentation processing unit

Claims (5)

The video data acquisition unit that acquires the video data taken by the shooting unit that shoots the surroundings of the vehicle, and the video data acquisition unit.
A driver information acquisition unit that acquires driver information indicating the degree of concentration of the driver of the vehicle, and a driver information acquisition unit.
When the score indicating the specific object-likeness is equal to or higher than the threshold value for the video data acquired by the video data acquisition unit, the recognition processing unit recognizes the video data as the specific object.
A presentation processing unit that presents information on the specific object recognized by the recognition processing unit to the driver of the vehicle, and a presentation processing unit.
Equipped with
The recognition processing unit changes the threshold value based on the driver information acquired by the driver information acquisition unit.
Object recognition controller. When the driver information indicates that the concentration level is low, the recognition processing unit lowers the threshold value.
The object recognition control device according to claim 1. The driver information acquisition unit is based on at least one of the driver recognition result for the video data obtained by photographing the driver, the biometric information of the driver, and the continuous driving time by the driver. To get,
The object recognition control device according to claim 1 or 2. The video data acquisition unit acquires video data obtained by photographing the traveling direction of the vehicle, and obtains video data.
The recognition processing unit recognizes a person or a bicycle on which a person is riding as a specific object in the traveling direction of the vehicle.
The object recognition control device according to any one of claims 1 to 3. A video data acquisition step to acquire video data taken by the shooting unit that shoots the surroundings of the vehicle,
The driver information acquisition step for acquiring the driver information indicating the concentration level of the driver of the vehicle, and the driver information acquisition step.
When the score indicating the specific object-likeness is equal to or higher than the threshold value for the video data acquired in the video data acquisition step, the recognition processing step for recognizing the specific object and the recognition processing step.
A presentation processing step that presents information on the specific object recognized in the recognition processing step to the driver of the vehicle, and a presentation processing step.
Including
In the recognition processing step, the threshold value is changed based on the driver information acquired in the driver information acquisition step.
The object recognition control method executed by the object recognition control device.

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