Object detection method and object detection device
In an object detection method according to the present invention, objects are detected by using three-dimensional data in the estimated crossing object presence area.
Abstract
In an object detection method according to the present invention, three-dimensional data of the area surrounding a host vehicle is acquired by a measurement sensor; an intended travel area in which the vehicle is intended to travel in the future is set on the basis of map data for the area surrounding the current position of the host vehicle; a crossing object presence area, in which an object that is likely to cross paths with the host vehicle in the future in the set intended traveling area is currently present, is estimated; and objects are detected by using three-dimensional data in the estimated crossing object presence area.