JP6409711B2 - Driving environment recognition device - Google Patents

Description

  The present invention relates to a technique for recognizing a traveling environment around a vehicle.

  As a driving environment around the vehicle, for example, a technology for recognizing an object such as a pedestrian and another vehicle, or a recognition target such as a white line defining a lane, and controlling a driving state of the vehicle such as collision avoidance or holding a driving lane. Proposed. In such a technique, it is known to recognize a traveling environment by analyzing output information of a detection device such as a camera or a radar that detects the traveling environment.

  However, when the detection device vibrates in the vertical direction due to the pitching of the vehicle, the direction of the detection device with respect to the recognition target is shifted, so that the output information of the detection device when the vehicle is pitched and the output information of the detection device when the vehicle is not pitched Deviation occurs. As a result, it becomes difficult to properly recognize the driving environment.

  Therefore, in the technology disclosed in Patent Document 1, when image data captured by a camera is captured as a detection device to recognize a traveling environment, image data is converted into image data based on a vehicle pitch angle detected by a sensor such as a gyro sensor. On the other hand, the recognition range is determined by correcting the position at which image processing is started. As a result, the technique disclosed in Patent Document 1 tries to recognize the traveling environment by correcting the deviation in the vertical direction of the detection device with respect to the recognition target by pitching.

Japanese Patent Laid-Open No. 3-118611

  The pitch angle detected by a sensor such as a gyro sensor is information detected when the vehicle pitches. Therefore, the pitch angle detected by the sensor with respect to the image data captured by the camera may be past information.

  In order to correct the deviation in the vertical direction of the camera with respect to the recognition target due to pitching, the range in which the driving environment is recognized for the image data is determined based on the pitch angle that is past information for the image data, etc. Even if the processing is performed, it is difficult to appropriately recognize the traveling environment.

  When the travel environment is recognized by performing processing such as determining a range for recognizing the travel environment based on the pitch angle detected by the sensor with respect to output information of other detection devices that detect the travel environment, not limited to the camera. Similar problems arise.

  The present invention has been made to solve the above problem, and an object thereof is to provide a technique for appropriately recognizing a traveling environment based on a pitch angle and output information of a detection device that detects the traveling environment. .

  The inventors of the present application focused on the correlation between the lateral movement of the vehicle and the pitch angle of the vehicle. In other words, we focused on the ability to predict the pitch angle from physical quantities related to the lateral movement of the vehicle.

Therefore, the traveling environment recognition device of the present invention includes a correlation acquisition unit, a pitch angle prediction unit, and an environment recognition unit.
The correlation acquisition unit acquires a correlation between the physical quantity and the pitch angle of the vehicle using a physical quantity related to the lateral movement of the vehicle as an input parameter. The pitch angle prediction unit predicts the pitch angle from the physical quantity based on the correlation acquired by the correlation acquisition unit. The environment recognition unit recognizes the travel environment based on the output information of the on-vehicle detection device that detects the travel environment around the vehicle and the pitch angle predicted by the pitch angle prediction unit.

  According to this configuration, the pitch angle of the vehicle can be predicted before actual pitching occurs based on the correlation between the physical quantity related to the lateral movement of the vehicle and the pitch angle. Thus, in accordance with the timing at which the predicted pitch angle is generated, the process for correcting the deviation in the vertical direction of the detection device with respect to the recognition target due to pitching with respect to the output information of the detection device that detects the traveling environment Can be executed. As a result, the traveling environment can be appropriately recognized based on the output information of the detection device and the predicted pitch angle.

  In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited is not.

The block diagram which shows the driving | running | working environment recognition apparatus by 1st Embodiment. The block diagram which shows the structure of a correlation acquisition part. The characteristic view which shows the correlation with the physical quantity relevant to the horizontal motion of a vehicle, and a pitch angle. The schematic diagram which shows correction | amendment of the search range in image data. The block diagram which shows the driving | running | working environment recognition apparatus by 2nd Embodiment. The block diagram which shows the driving | running | working environment recognition apparatus by 3rd Embodiment. The block diagram which shows the structure of the correlation acquisition part by 4th Embodiment. The flowchart which shows the map update process by 4th Embodiment. The flowchart which shows the driving | running | working environment recognition process by 4th Embodiment. The block diagram which shows the driving | running | working environment recognition apparatus by 5th Embodiment.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
[1. First Embodiment]
[1-1. Constitution]
A vehicle control system 2 shown in FIG. 1 is mounted on a vehicle such as a passenger car, and includes a travel environment recognition device 10, a travel state detection device 50, a travel environment detection device 52, a vehicle control device 54, and an actuator 56. It has.

  The travel environment recognition device 10 includes a correlation acquisition unit 20, a pitch angle prediction unit 30, and an environment recognition unit 40. As the travel environment around the vehicle, for example, white lines that define both ends in the width direction of the travel path, In addition, the apparatus recognizes an object such as another vehicle or a pedestrian as a recognition target. As shown in FIG. 2, the correlation acquisition unit 20 of the traveling environment recognition device 10 includes a phase difference map 22 and a pitch angle gain map 24. Processing executed by each unit of the traveling environment recognition device 10 will be described later.

  The traveling state detection device 50 is various sensors that detect the traveling state of the vehicle, such as a vehicle speed sensor, a gyro sensor, an acceleration sensor, and a steering angle sensor. One of the sensors such as a gyro sensor, an acceleration sensor, and a steering angle sensor that is the traveling state detection device 50 is a roll rate as a physical quantity related to lateral movement of the vehicle (hereinafter also referred to as “lateral physical quantity”). Detect yaw rate, lateral acceleration, steering angle, etc.

The traveling environment detection device 52 is a device that detects a traveling environment around the vehicle, such as a camera, a millimeter wave radar, and an ultrasonic sensor.
The vehicle control device 54 sets a target driving force that is set for holding a traveling path on which the vehicle is traveling, avoiding a collision with an object, and the like based on the traveling environment around the vehicle recognized by the traveling environment recognition device 10. The various actuators 56 are controlled based on the target braking force, the target steering angle, and the like.

  The actuator 56 that realizes the target drive output is, for example, a fuel injection valve, a throttle device, a motor, or the like. The actuator 56 that achieves the target braking force is, for example, an actuator provided in a hydraulic circuit of a hydraulic brake. When the vehicle is equipped with a motor as a drive source, a motor that generates a braking force by regenerative braking according to the target braking force may be used as the actuator 56.

The actuator 56 that realizes the target steering angle is, for example, a motor that generates assist torque by electric power steering.
[1-2. processing]
The correlation acquisition unit 20 inputs the phase difference map 22 using any one of the roll rate, yaw rate, lateral acceleration, and steering angle represented by the detection signals of the various sensors as the traveling state detection device 50 as a lateral physical quantity of the vehicle. It is a parameter. The correlation acquisition unit 20 may use the roll angle obtained by integrating the roll rate and the yaw rate as an input parameter of the phase difference map 22 as a horizontal physical quantity.

  As shown in FIG. 3, there is a correlation between the lateral physical quantity 200 and the pitch angle 210. The vertical axis in FIG. 3 represents an example in which a roll rate is adopted as the horizontal physical quantity 200, and the unit is [deg / sec]. The unit of the vertical axis of the pitch angle 210 is [deg].

  In FIG. 3, the phase difference of the pitch angle 210 with respect to the horizontal physical quantity 200 is Δt [sec], and the gain of the pitch angle 210 with respect to the horizontal physical quantity 200 is L. That is, pitching with a pitch angle that is L times the lateral physical quantity occurs after Δt [sec] after the vehicle moves in the lateral direction.

  Since the correlation between the physical quantity 200 in the horizontal direction and the pitch angle 210 is high, as shown in FIG. 3, when the waveform of the physical quantity 200 in the horizontal direction is shifted by Δt [sec] that is a phase difference and multiplied by L, the waveform of the pitch angle 210 is changed. Can be sought. The correlation acquisition unit 20 acquires the phase difference of the pitch angle with respect to the horizontal direction physical quantity from the phase difference map 22 using the horizontal direction physical quantity as an input parameter of the phase difference map 22.

  The phase difference of the pitch angle with respect to the lateral physical quantity is obtained by measuring the data of the lateral physical quantity and the pitch angle by running a test vehicle in advance and calculating the cross-correlation function between the lateral physical quantity and the pitch angle from the measured data. To do. Then, a correspondence between the horizontal physical quantity and the phase difference of the pitch angle corresponding to the horizontal physical quantity is created as the phase difference map 22.

In addition, since the phase difference of the pitch angle with respect to the lateral physical quantity changes according to the vehicle speed, the phase difference map 22 is generated for each vehicle speed of several km / h, for example.
The pitch angle gain map 24 is based on the measurement data of the horizontal physical quantity and the pitch angle, and the pitch angle at a position shifted by Δt [sec] in FIG. 3 as a phase difference with respect to the horizontal physical quantity and the horizontal physical quantity, for example. This is a map of the correspondence with gain. The correlation acquisition unit 20 uses the horizontal physical quantity as an input parameter, and acquires the pitch angle gain with respect to the horizontal physical quantity from the pitch angle gain map 24.

  Since the gain of the pitch angle with respect to the lateral physical quantity changes according to the vehicle speed, the pitch angle gain map 24 is generated for each vehicle speed of, for example, several km / h, similarly to the phase difference map 22.

  The pitch angle prediction unit 30 acquires the pitch angle gain corresponding to the horizontal physical quantity from the correlation acquisition unit 20, and predicts the magnitude of the pitch angle generated by the phase difference Δt [sec] corresponding to the horizontal physical quantity. .

  Since the environment recognition unit 40 receives the predicted pitch angle magnitude and the phase difference of the predicted pitch angle with respect to the lateral physical quantity from the pitch angle prediction unit 30, the magnitude of the pitch angle generated after the phase difference Δt [sec] from now on. Can be known before pitching actually occurs. In other words, the environment recognizing unit 40 can know in advance the magnitude of the pitch angle that is currently occurring before the phase difference Δt [sec].

  Thereby, the environment recognition unit 40 corrects the deviation in the vertical direction of the traveling environment detection device 52 with respect to the recognition target by pitching with respect to the output information of the traveling environment detected and output by the traveling environment detection device 52. Can be appropriately performed based on the size of the predicted pitch angle.

  For example, when the traveling environment detection device 52 is a camera, as illustrated in FIG. 4, when the pedestrian 230 is a recognition target in the image data 220 captured by the camera, the environment recognition unit 40 is acquired from the pitch angle prediction unit 30. Based on the predicted pitch angle before the phase difference, the search range 232 of the pedestrian 230 is corrected up and down. The environment recognition unit 40 searches and recognizes the pedestrian 230 that is the recognition target within the corrected search range 232.

  If the predicted pitch angle is upward, the pedestrian 230 in the image data 220 moves downward as compared with the case where the vehicle is not pitched. Correct downwards accordingly.

  If the predicted pitch angle is downward, the pedestrian 230 in the image data moves upward as compared with the case where the vehicle is not pitched. Correct upwards depending on.

  Further, when the traveling environment detection device 52 is a millimeter wave radar or an ultrasonic sensor, when the vehicle pitches, the distance to the recognition target such as a pedestrian and another vehicle detected by the millimeter wave radar or the ultrasonic sensor and the relative recognition target. The speed changes from the value when no pitching is performed.

  For example, when the vehicle pitches, the distance to the recognition target becomes longer than when the pitch is not pitched. The environment recognition unit 40 corrects the distance to the recognition target detected by the millimeter wave radar or the ultrasonic sensor based on, for example, a trigonometric function based on the predicted pitch angle obtained from the pitch angle prediction unit 30 before the phase difference. To do.

As described above, the environment recognition unit 40 recognizes the travel environment by performing appropriate processing based on the predicted pitch angle on the travel environment output information detected and output by the travel environment detection device 52.
[1-3. effect]
According to the first embodiment described above, the following effects can be obtained.

  (1) Using the lateral physical quantity related to the lateral movement of the vehicle as an input parameter, based on the correlation between the lateral physical quantity and the pitch angle, the phase difference and phase difference of the pitch angle from the lateral physical quantity to the lateral physical quantity Since the size of the later pitch angle is predicted, the above-described appropriate processing can be performed on the output information of the traveling environment detected and output by the traveling environment detection device 52 based on the predicted pitch angle. Accordingly, the traveling environment can be appropriately recognized based on the predicted pitch angle and the traveling environment output information detected and output by the traveling environment detection device 52.

  (2) Based on the phase difference map 22 and the pitch angle gain map 24 representing the correlation between the physical quantity in the horizontal direction and the pitch angle, the phase difference and the phase difference of the pitch angle with respect to the physical quantity in the horizontal direction are set as input parameters. The size of the later pitch angle can be easily predicted.

[2. Second Embodiment]
[2-1. Constitution]
FIG. 5 shows a vehicle control system 4 according to the second embodiment. Components that are substantially the same as those of the vehicle control system 2 of the first embodiment are denoted by the same reference numerals.

The travel environment recognition device 60 includes a correlation acquisition unit 20, a pitch angle prediction unit 30, an environment recognition unit 40, and a travel state prediction unit 62.
[2-2. processing]
The traveling state prediction unit 62 determines, for example, the lateral physical quantity of the vehicle that is several seconds or several meters ahead based on the target driving force, the target braking force, and the target steering angle as a control amount that the vehicle control device 54 controls the actuator 56. Functions as a physical quantity prediction unit for prediction.

  The correlation acquisition unit 20 uses the lateral physical quantity predicted by the traveling state prediction unit 62 instead of the current lateral physical quantity detected by the sensor of the first embodiment as an input parameter, and the phase difference map 22 and the pitch angle gain map 24 Thus, the phase difference of the pitch angle with respect to the lateral physical quantity and the magnitude of the pitch angle after the phase difference are acquired.

[2-3. effect]
According to the second embodiment described above, in addition to the effects (1) and (2) of the first embodiment, the following effects can be obtained.

  (1) Since the pitch angle is further predicted from the lateral physical quantity predicted from the control amount for controlling the actuator 56, the predicted pitch angle can be set even when the communication delay of the vehicle control system 4 is large or the calculation load is high. Based on the output information of the traveling environment detection device 52, the process for appropriately recognizing the recognition target can be performed with sufficient time.

  (2) Since the correlation acquisition unit 20 uses the lateral physical quantity predicted from the control quantity that the vehicle control device 54 controls the actuator 56 instead of the lateral physical quantity detected by the sensor as an input parameter, If the process using the horizontal physical quantity is not performed, the sensor for detecting the horizontal physical quantity can be omitted.

[3. Third Embodiment]
[3-1. Constitution]
FIG. 6 shows a vehicle control system 6 according to the third embodiment. Components that are substantially the same as those of the vehicle control system 4 of the second embodiment are denoted by the same reference numerals.

The travel environment recognition device 70 includes a correlation acquisition unit 20, a pitch angle prediction unit 30, an environment recognition unit 40, and a travel state prediction unit 72.
[3-2. processing]
The traveling state prediction unit 72 acquires, for example, a curvature as road information of a traveling position where the vehicle is scheduled to travel from the map DB 80 provided in the navigation device or the like. Predict the horizontal physical quantity of.

  The correlation acquisition unit 20 uses the lateral physical quantity predicted by the traveling state prediction unit 72 as an input parameter, and uses the phase difference map 22 and the pitch angle gain map 24 to calculate the phase difference of the pitch angle relative to the lateral physical quantity and the pitch after the phase difference. Get the size of the corner.

[3-3. effect]
According to the third embodiment described above, in addition to the effects (1) and (2) of the first embodiment and the effect (2) of the second embodiment, the following effects can be obtained.

  Since the pitch angle is further predicted from the lateral physical quantity predicted based on the road information in the map DB 80, even when the communication delay of the vehicle control system 6 is large or the calculation load is high, the pitch angle is predicted based on the predicted pitch angle. The processing for appropriately recognizing the recognition target can be performed with sufficient time for the output information of the traveling environment detection device 52.

[4. Fourth Embodiment]
[4-1. Constitution]
In the vehicle control system of the fourth embodiment, the configuration of the correlation acquisition unit 90 shown in FIG. 7 is different from the correlation acquisition unit 20 of the first to third embodiments, and the environment recognition process of the fourth embodiment is the first to first. This is different from the environment recognition process of the third embodiment. The other configuration of the vehicle control system of the fourth embodiment is substantially the same as any one of the vehicle control systems 2, 4, and 6 of the first to third embodiments, and the same components are denoted by the same reference numerals. doing.

The correlation acquisition unit 90 includes a phase difference map 22, a pitch angle gain map 24, and a map update unit 92.
[4-2. processing]
(1) Map Update Process The flowchart of the map update process shown in FIG. 8 executed by the map update unit 92 is executed at predetermined time intervals.

  The map update unit 92 acquires the horizontal physical quantity detected by the sensor and the pitch angle output by the sensor for a certain period longer than the maximum phase difference assumed as the phase difference between the horizontal physical quantity and the pitch angle (S400). Then, the cross-correlation function and the pitch angle gain between the lateral physical quantity and the pitch angle are calculated (S402). As a sensor for detecting the pitch angle, for example, a gyro sensor or the like is used.

The map update unit 92 updates the phase difference map 22 and the pitch angle gain map 24 based on the cross-correlation function and pitch angle gain calculated in S402 (S404).
(2) Environment Recognition Process The flowchart of the environment recognition process shown in FIG. 9 executed by the traveling environment recognition apparatus of the fourth embodiment is executed at predetermined time intervals.

  If the lateral physical quantity cannot be acquired due to a sensor failure, an abnormality in the control amount for controlling the actuator 56, an abnormality in the data in the map DB, or the like (S410: No), the correlation acquisition unit 90 moves the process to S420.

  When the horizontal physical quantity can be acquired (S410: Yes), the correlation acquisition unit 90 performs the horizontal physical quantity predicted from the detection signal of the sensor or the control amount for controlling the actuator 56, or the road information of the map DB 80 and the travel of the vehicle. The horizontal physical quantity predicted based on the state is acquired (S412), and the pitch angle predicting unit 30 predicts the pitch angle based on the horizontal physical quantity (S414).

  The environment recognition unit 40 is necessary for the reliability of the cross-correlation function between the lateral physical quantity and the pitch angle calculated by the map updating unit 92 to appropriately recognize the driving environment based on the pitch angle predicted from the lateral physical quantity. If it is greater than or equal to the lower limit (S416: Yes), if the traveling environment detection device 52 is a camera, the search range of the recognition target is corrected based on the predicted pitch angle (S418).

If the reliability of the correlation is lower than the lower limit (S416: No), the environment recognition unit 40 moves the process to S420.
In S420, the environment recognition unit 40 does not correct the search range of the recognition target, but searches for the recognition target within the range of the preset maximum predicted pitch angle. The maximum value of the predicted pitch angle is, for example, the maximum value of the pitch angle assumed as the running characteristic of the vehicle.

[4-3. effect]
According to the fourth embodiment described above, in addition to the effects (1) and (2) of the first embodiment, the following effects can be obtained.

  (1) Even if the cross-correlation function between the lateral physical quantity and the pitch angle and the pitch angle gain change due to changes in the vehicle running characteristics over time, the phase difference map 22 and the pitch angle gain map 24 are obtained at predetermined time intervals. Since it is updated, the phase difference of the pitch angle with respect to the horizontal physical quantity and the pitch angle after the phase difference can be predicted based on the latest correlation between the horizontal physical quantity and the pitch angle.

  (2) When the reliability of the cross-correlation function between the lateral physical quantity calculated by the map update unit 92 and the pitch angle is lower than the lower limit value that can properly recognize the traveling environment, the reliability is based on the cross-correlation function with low reliability. The reliability of the predicted pitch angle is also low.

  Therefore, when the reliability of the cross-correlation function is lower than the lower limit value, the prediction pitch with low reliability is not obtained by performing processing such as correcting the search range of the recognition target on the output information of the traveling environment detection device 52. It is possible to avoid processing the output information of the traveling environment detection device 52 based on the corner.

[5. Fifth Embodiment]
[5-1. Constitution]
FIG. 10 shows a vehicle control system 8 according to the fifth embodiment. In FIG. 10, as the vehicle control system 8, a configuration in which the vehicle control system 2 of the first embodiment further includes the vehicle system vibration control device 100 is illustrated. The vehicle control system 2 of the first embodiment is not limited to the vehicle control system 2 of the first embodiment, and the vehicle system vibration control device 100 may be included.

[5-2. processing]
The vehicle system vibration control device 100 estimates the vibration of the vehicle body by inputting control amounts for the vehicle control device 54 to control the various actuators 56 based on the target driving force, the target braking force, the target steering angle, and the like. The vehicle system vibration control device 100 corrects the control amount for the actuator 56 that drives the accelerator, the brake, the steering, and the like in order to reduce the estimated vibration of the vehicle body.

The vehicle system vibration control device 100 calculates the correction value of the control amount for estimating the vibration of the vehicle body and reducing the vibration based on, for example, a dynamic model.
[5-3. effect]
When the vibration of the vehicle is reduced and the running posture is stabilized, the correlation between the lateral physical quantity and the pitch angle increases. Thereby, based on the correlation between the lateral physical quantity and the pitch angle, the phase difference of the pitch angle with respect to the lateral physical quantity and the pitch angle after the phase difference can be predicted with high accuracy.

[5. Other Embodiments]
(1) In the above embodiment, the vehicle control device 54 performs vehicle control based on the recognition result of the travel environment by the travel environment recognition devices 10, 60, 70. In addition to this, as long as the processing based on the recognition result of the traveling environment by the traveling environment recognition devices 10, 60, and 70 can be performed, the recognition result of the traveling environment may be applied to any processing.

  (2) The functions of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of the said embodiment as long as a subject can be solved. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claims are embodiments of the present invention.

  (3) In addition to the above-described traveling environment recognition device, a vehicle control system including the traveling environment recognition device as a constituent element, a traveling environment recognition program for causing a computer to function as the traveling environment recognition device, and the traveling environment recognition program are recorded. The present invention can also be realized in various forms such as a recording medium and a traveling environment recognition method.

2, 4, 6, 8: Vehicle control system 10, 60, 70: Travel environment recognition device, 20, 90: Correlation acquisition unit, 30: Pitch angle prediction unit, 40: Environment recognition unit, 50: Travel state detection device (Sensor), 52: traveling environment detection device, 54: vehicle control device, 62, 72: travel state prediction unit (physical quantity prediction unit), 100: vehicle system vibration control device

Claims (8)

A correlation acquisition unit (20, 90, S404) for acquiring a correlation between the physical quantity and the pitch angle of the vehicle, using a physical quantity related to the lateral movement of the vehicle as an input parameter;
A pitch angle prediction unit (30, S414) for predicting the pitch angle from the physical quantity based on the correlation acquired by the correlation acquisition unit;
An environment recognizing unit (40, S416-) for recognizing the traveling environment based on output information of an in-vehicle detection device (52) for detecting a traveling environment around the vehicle and the pitch angle predicted by the pitch angle predicting unit. S420)
A travel environment recognition device (10, 60, 70) comprising: In the traveling environment recognition device according to claim 1,
A physical quantity prediction unit (62, 72) for predicting the physical quantity;
The correlation acquisition unit uses the physical quantity predicted by the physical quantity prediction unit as the input parameter.
A travel environment recognition device characterized by that. The travel environment recognition device according to claim 2,
The physical quantity prediction unit (62) predicts the physical quantity based on a control amount by which a vehicle control device (54) controls the traveling of the vehicle.
A traveling environment recognition device (60) characterized by the above. The travel environment recognition device according to claim 2,
The physical quantity prediction unit (72) predicts the physical quantity based on road information at a travel position where the vehicle is scheduled to travel and a travel state of the vehicle at the travel position.
A traveling environment recognition device (70) characterized by the above. In the traveling environment recognition device according to claim 1,
The correlation acquisition unit uses a detection signal of the sensor (50) for detecting the physical quantity as the input parameter.
A traveling environment recognition device (10) characterized by the above. In the traveling environment recognition device according to any one of claims 1 to 5,
The environment recognition unit includes at least one of a search range in the output information of a recognition target to be recognized in the driving environment, a distance between the recognition target and the vehicle, and a relative speed of the recognition target with respect to the vehicle. Is corrected based on the pitch angle,
A travel environment recognition device characterized by that. In the traveling environment recognition device according to any one of claims 1 to 6,
When the correlation acquisition unit cannot acquire the correlation, or the correlation acquired by the correlation acquisition unit does not satisfy the reliability necessary for predicting the pitch angle, the environment recognition unit (S414, S420) searches for a recognition target within a preset maximum range of the pitch angle.
A travel environment recognition device characterized by that. In the traveling environment recognition device according to any one of claims 1 to 7,
The correlation acquisition unit includes the physical quantity of the vehicle including the vehicle structure vibration control device (100) that stabilizes the traveling posture as the input parameter.
A travel environment recognition device characterized by that.

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