The invention provides a vehicle external environment recognition device which can accurately detect floating matters such as steam and exhaust gas. The vehicle external environment recognition device (120) includes a three-dimensional position deriving module (162) that derives three-dimensional positions in real space of subject parts in images that are obtained by imaging a detection area, an object identifying module (164) that groups the subject parts of which differences in the three-dimensional position are within a predetermined range to identify an object, an edge intensity deriving module (168) that horizontally divides an area containing the object to set divided areas, and derives an edge average that is an average value of edge intensities based on a luminance value of each pixel within each of the divided areas; and a floating matter identifying module (170) that compares the edge average with a predetermined threshold, and identifies the object to be likely floating matters when the edge average is less than the threshold.
VEHICLE EXTERNAL ENVIRONMENT RECOGNITION DEVICE
2015-04-15
Patent
Electronic Resource
English
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |