To improve determination accuracy of a specific object.SOLUTION: A vehicle exterior environment recognition device includes: a first width derivation unit for deriving a first width of a first solid object based on a luminance image capable of specifying luminance of an imaging object; a second width derivation unit for deriving a second width of a second solid object based on a distance image capable of specifying a distance of the imaging object; an overlap degree derivation unit for obtaining an overlap width in which the first width and the second width overlap in a horizontal direction to determine a larger one of an overlap width/the first width and an overlap width/the second width as an overlap degree; and a specific object determination unit for determining the first solid object and the second solid object as the same specific object if the overlap degree is a predetermined threshold value of 196 or more.SELECTED DRAWING: Figure 6
【課題】特定物の判定精度を向上する。【解決手段】車外環境認識装置は、撮像対象の輝度を特定可能な輝度画像に基づいて第1立体物の第1幅を導出する第1幅導出部と、撮像対象の距離を特定可能な距離画像に基づいて第2立体物の第2幅を導出する第2幅導出部と、第1幅と第2幅とが水平方向において重複する重複幅を求め、重複幅/第1幅、および、重複幅/第2幅のうち大きい方を重複度とする重複度導出部と、重複度が所定の閾値196以上であれば、第1立体物と第2立体物とを同一の特定物と判定する特定物判定部と、を備える。【選択図】図6
VEHICLE EXTERIOR ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2021-09-16
Patent
Elektronische Ressource
Japanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |