Patent ID: 11921191
Assignee: MAZDA MOTOR CORPORATION
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 8:
9. An object recognition device, comprising:
at least one sensor configured to detect an object present in a detectable range and to transmit object data including a plurality of physical quantities indicating a state of the object;
an ego vehicle travel scene obtaining unit configured to detect a current ego vehicle travel scene in a vehicle in which the object recognition device is installed and to transmit ego vehicle travel scene data corresponding to the current ego vehicle travel scene;
a data reception unit configured to receive the object data when the object data is transmitted from the at least one sensor and to receive the ego vehicle travel scene data when the ego vehicle travel scene data is transmitted from the ego vehicle travel scene obtaining unit;
a physical-quantity delay time estimation unit configured to estimate, based on the ego vehicle travel scene data, at least one of a plurality of physical-quantity delay times each corresponding to each of the plurality of physical quantities included in the object data; and
a setting unit configured to generate prediction data which predicts current object data based on at least a part of past object data received by the data reception unit and a motion model in the object and to set a association possible region for determining a association between the prediction data and the current object data based on the prediction data and the plurality of physical-quantity delay times.