A vehicle external recognition apparatus (1000) according to the present invention extracts a feature point from an image including an environment around a driver's own vehicle and measures a distance from the driver's own vehicle to the feature point on the basis of a movement of the feature point as obtained by time-series tracking of the feature point. Then, the vehicle external recognition apparatus extracts, as a first road surface area, a local area which is judged as a road surface on the basis of distance information to the feature point and a position of the feature point in the image from among a plurality of local areas which are set in the image. Then, the vehicle external recognition apparatus calculates a multi-dimensional image feature amount including color information for each of the plurality of local areas in the image and calculates similarity to the first road surface area by using the image feature amount with respect to a no-road-surface-extracted area(s), which has not been extracted as the first road surface area, from among the plurality of local areas in the image. Then, the vehicle external recognition apparatus extracts a second road surface area from the no-road-surface-extracted area(s) on the basis of the similarity and recognizes a travelable area by using the first road surface area and the second road surface area.
EXTERIOR RECOGNITION DEVICE FOR VEHICLES
AUSSENERKENNUNGSVORRICHTUNG FÜR FAHRZEUGE
DISPOSITIF DE RECONNAISSANCE D'EXTÉRIEUR POUR VÉHICULES
05.05.2021
Patent
Elektronische Ressource
Englisch
Exterior environment recognition device and exterior environment recognition method
Europäisches Patentamt | 2015
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