Environment recognition system

An environment recognition system for watercraft, comprising:

• an environment recognition device that includes a transmitter configured to emit a laser beam in a prescribed direction and a receiver configured to receive the laser beam reflected by an external object, the environment recognition device configured to acquire point cloud data and generate a detection signal indicating a distance to the object according to the received laser beam;
• and
• a main controller that generates a recognition signal corresponding to the detection signal,
• wherein the main controller is provided with a variable noise cutting circuit for the detection signal, and configured to
• be forwarded information regarding a target spot of the watercraft,
• set a first distance from the environment recognition system according to a distance from the environment recognition system to the target spot,
• set a threshold value regarding intensity of the received laser beam,
• set the threshold value higher for the object within the first distance than the object beyond the first distance,
• eliminate a signal indicating the intensity of the received laser beam lower than the threshold value and identify a position of the watercraft on a map, and
• decrease the first distance as the distance from the environment recognition system to the target spot decreases.