Information processing device, vehicle, roadside unit, and information processing method

A vehicle comprising:

• an imaging device configured to generate a captured image;
• a distance measurement sensor which has a detection range overlapping at least partially with an imaging range of the imaging device and which is configured to generate a distance distribution including distance values to a reflection point in each of a plurality of directions by receiving a reflected wave of a projected wave at an object;
• and
• a controller configured to detect a subject image from the captured image, calculate, on the basis of the captured image and the distance distribution, a position of a subject corresponding to the subject image in a width direction which is parallel to a horizontal direction and perpendicular to an optical axis direction of the imaging device, and prioritize use of the distance distribution to calculate a distance to the subject by changing a relative priority of the distance distribution to be used to calculate the distance to the subject according to a luminance of the captured image.

A roadside unit comprising:

• an imaging device configured to generate a captured image;
• a distance measurement sensor which has a detection range overlapping at least partially with an imaging range of the imaging device and which is configured to generate a distance distribution including distance values to a reflection point in each of a plurality of directions by receiving a reflected wave of a projected wave at an object;
• and
• a controller configured to detect a subject image from the captured image, calculate, on the basis of the captured image and the distance distribution, a position of a subject corresponding to the subject image in a width direction which is parallel to a horizontal direction and perpendicular to an optical axis direction of the imaging device, and prioritize use of the distance distribution to calculate a distance to the subject by changing a relative priority of the distance distribution to be used to calculate the distance to the subject according to a luminance of the captured image.

An information processing method comprising:

• generating a captured image;
• generating a distance distribution including distance values to a reflection point in each of a plurality of directions by receiving a reflected wave of a projected wave at an object in a detection range that overlaps at least partially with a range of the captured image;
• detecting a subject image from the captured image;
• calculating, on the basis of the captured image and the distance distribution, a position of a subject corresponding to the subject image in a width direction which is parallel to a horizontal direction and perpendicular to an optical axis direction of an imaging device configured to generate the captured image;
• and
• calculating a distance to the subject by prioritizing use of the distance distribution by changing a relative priority of the distance distribution to be used to calculate the distance to the subject according to a luminance of the captured image.