To appropriately identify a road surface.SOLUTION: A vehicle outside environment recognition device includes: a road surface identifying unit which identifies a road surface area corresponding to a road surface in an image, plots a representative distance for each horizontal line in the road surface area at its vertical position, and generates a first road surface model 236a and a second road surface model 236b being further than the first road surface model and having a gradient different from the first road surface model; and a three-dimensional object identifying unit which identifies a three-dimensional object by grouping blocks being positioned vertically above the first road surface model and the second road surface model. When an angle θ between the first road surface model and the second road surface model is a prescribed angle or more, the three-dimensional object identifying unit cancels the second road surface model and extends the first road surface model further.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、画像中の路面に相当する路面領域を特定し、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、第1路面モデル236a、および、第1路面モデルより遠方かつ第1路面モデルと勾配が異なる第2路面モデル236bを生成する路面特定部と、第1路面モデルおよび第2路面モデルより鉛直上方に位置するブロック同士をグルーピングして立体物を特定する立体物特定部と、を備え、立体物特定部は、第1路面モデルと第2路面モデルとのなす角θが所定角度以上であれば、第2路面モデルをキャンセルし、第1路面モデルを遠方まで延長する。【選択図】図10
VEHICLE OUTSIDE ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2022-03-11
Patent
Elektronische Ressource
Japanisch
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