SENSOR RECOGNITION INTEGRATION DEVICE

To provide a sensor recognition integration device capable of: reducing an integration processing load so as to satisfy minimum accuracy necessary for vehicle travel control; improving processing performance of an ECU; and curbing an increase in a cost.SOLUTION: A sensor recognition integration device B006 which integrates plural pieces of object information about an object around an own vehicle detected through a plurality of external recognition sensors comprises: a prediction updating section 100 which generates predicted object information predicting behavior of the object; an association section 101 which calculates a relation between the predicted object information and the plural pieces of object information; an integration processing mode determination section 102 which switches an integration processing mode to determine an integration method of the plurality of object information on the basis of a positional relation between a specific region (for example a boundary section) in an overlapped region in detection regions of the plurality of external recognition sensors and the predicted object information; and an integration object information generation section 104 which integrates the plurality of object information associated with the predicted object information on the basis of the integration processing mode.SELECTED DRAWING: Figure 3 【課題】車両走行制御が必要とする必要最小限の精度を満たすよう統合処理の負荷低減を図ることができ、ECUの処理性能向上、コストアップを抑止することのできるセンサ認識統合装置を提供する。【解決手段】複数の外界認識センサで検知した自車周辺の物体に関する複数の物体情報を統合するセンサ認識統合装置B006であって、前記物体の行動を予測した予測物体情報を生成する予測更新部100と、前記予測物体情報と前記複数の物体情報との関連を算出するアソシエーション部101と、前記複数の外界認識センサの検知領域の重複領域における特定領域（例えば境界部）と前記予測物体情報の位置関係に基づいて、前記複数の物体情報の統合方法を決定する統合処理モードを切り替える統合処理モード判定部102と、前記統合処理モードに基づいて、前記予測物体情報に関連づいた前記複数の物体情報を統合する統合対象情報生成部104と、を備える。【選択図】図３