To appropriately identify paired light sources.SOLUTION: A vehicle exterior environment recognition device includes: a light source extraction section for extracting light sources 184a, 184b, 184c and 184d from an image; a paired light source identification section for identifying paired light sources 186a based on a position relation of the extracted light sources; a reliability derivation section for deriving vehicle reliability to regard the paired light sources as a part of a vehicle; a paired light source re-identification section for identifying the new paired light sources 186b and 186c in the neighborhood of the paired light sources where the vehicle reliability is less than a re-identification threshold when the vehicle reliability of the paired light sources is less than a predetermined re-identification threshold; and a vehicle identification section for identifying the vehicle based on the positions of the paired light sources and the vehicle reliability.SELECTED DRAWING: Figure 8
【課題】ペア光源を適切に特定する。【解決手段】車外環境認識装置は、画像から光源184a、184b、184c、184dを抽出する光源抽出部と、抽出された光源同士の位置関係に基づいてペア光源186aを特定するペア光源特定部と、ペア光源を車両の一部とみなすことができる車両信頼度を導出する信頼度導出部と、ペア光源の車両信頼度が所定の再特定閾値未満の場合、車両信頼度が再特定閾値未満のペア光源近傍において新たなペア光源186b、186cを特定するペア光源再特定部と、ペア光源の位置および車両信頼度に基づいて車両を特定する車両特定部と、を備える。【選択図】図8
VEHICLE EXTERIOR ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2022-03-04
Patent
Elektronische Ressource
Japanisch