To properly identify a road surface.SOLUTION: In a vehicle outside environment recognition device, a computer functions as a first road surface identification unit that identifies a first road surface area corresponding to a road surface in an image, and plots a representative distance for each horizontal line in the first road surface area at a vertical position thereof to generate a first road surface model 216; and a second road surface identification unit that identifies a second road surface area corresponding to a road surface further away from the first road surface area and having a horizontal length longer than the first road surface area when replaced with a three-dimensional space, and generates a second road surface model 228 by plotting the representative distance for each horizontal line in the second road surface area at the vertical position thereof.SELECTED DRAWING: Figure 10
【課題】路面を適切に特定する。【解決手段】車外環境認識装置は、コンピュータが、画像中の路面に相当する第1路面領域を特定し、第1路面領域における水平ライン毎の代表距離を、その垂直位置にプロットして第1路面モデル216を生成する第1路面特定部と、第1路面領域よりさらに遠方における路面に相当し、かつ、三次元空間に置換したときの水平方向の長さが第1路面領域より長い第2路面領域を特定し、第2路面領域における水平ライン毎の代表距離を、その垂直位置にプロットして第2路面モデル228を生成する第2路面特定部、として機能している。【選択図】図10
VEHICLE OUTSIDE ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2019-07-11
Patent
Elektronische Ressource
Japanisch
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
Europäisches Patentamt | 2019
|OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
Europäisches Patentamt | 2020
|OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
Europäisches Patentamt | 2018
|