Object recognition device and vehicle control system

An object recognition device that recognizes a target object around a vehicle, the device comprising:

• a distance information-based target object determination unit that determines whether or not an object is a target object, using distance information from the vehicle to the object;
• an image information-based target object determination unit that determines whether or not the object is the target object, using image information obtained by capturing an image of the object from the vehicle;
• a target object detection reliability calculation unit that calculates detection reliability of the target object, using the distance information and the image information;
• a pair of left and right image capturing units that captures an image of the front of the vehicle, and a parallax calculation unit that calculates parallax information of the object based on the image information captured by the image capturing units, wherein
• the distance information-based target object determination unit determines whether or not an object in front of the vehicle is a pedestrian that is the target object, using the parallax information as the distance information,
• the image information-based target object determination unit detects a parked vehicle in front of the vehicle using the distance information, detects a pedestrian candidate in the vicinity of the parked vehicle using the image information, and determines whether the pedestrian candidate is a pedestrian using the image information and the distance information,
• the target object detection reliability calculation unit calculates the detection reliability of the pedestrian, using the determination result of the distance information-based target object determination unit and the determination result of the image information-based target object determination unit,
• the target object detection reliability calculation unit determines that the reliability is high, when the object in front of the vehicle is determined as the pedestrian by the distance information-based target object determination unit, and the pedestrian candidate is determined as the pedestrian by the image information-based target object determination unit,
• the target object detection reliability calculation unit determines that the reliability is low, when the object in front of the vehicle is not determined as the pedestrian by the distance information-based target object determination unit, and the pedestrian candidate is determined as the pedestrian by the image information-based target object determination unit, and
• the target object detection reliability calculation unit determines that the reliability is intermediate, when the object in front of the vehicle is determined as the pedestrian by the distance information-based target object determination unit, and the pedestrian candidate is not determined as the pedestrian by the image information-based target object determination unit.