DISPOSITIF DE DÉTECTION D'OBJET DE BORD DE ROUTE, PROCÉDÉ DE DÉTECTION D'OBJET DE BORD DE ROUTE ET SYSTÈME DE DÉTECTION D'OBJET DE BORD DE ROUTE

摘要

The roadside object detection device, roadside object detection method, and roadside object detection system according to the present invention make it possible to accurately detect roadside objects by: determining a first feature value regarding positional relationship between a host vehicle and a roadside object candidate and a second feature value regarding a height of the roadside object candidate, based on external environment information acquired by an external environment recognition unit; determining a height-related threshold for identifying the roadside object candidate as a roadside object, based on the first feature value; and identifying the roadside object candidate as a roadside object when the second feature value exceeds the threshold.