PROBLEM TO BE SOLVED: To avoid an incident that a traffic light controlled to be lit is erroneously recognized as being controlled to be extinguished or flickered.SOLUTION: A vehicular outside environment recognition system 120 includes an imaging unit 110 that images a detection area at a frame rate different from a frequency of alternating-current power of a commercial power supply and a divisor of the frequency, a traffic light identification unit (object identification unit 164) that identifies a traffic light appearing in an image produced by the imaging unit, an extinction decision unit 166 that determines whether the traffic light in each of frames is extinguished, and a non-lighting determination unit 168 that, when the number of frames which is a first predetermined number of consecutive frames that is preliminarily designated and in which the traffic light is recognized to be extinguished exceeds a first threshold, determines that the traffic light is extinguished or flickered.
【課題】点灯状態に制御されている信号機を、消灯状態または点滅状態に制御されていると誤判定する事態を回避する。【解決手段】車外環境認識装置120は、商用電源の交流電力の周波数および周波数の約数と異なるフレームレートで検出領域を撮像する撮像部110と、撮像部が撮像した画像内に含まれる信号機を特定する信号機特定部(対象物特定部164)と、フレームごとの信号機が消灯しているか否かを判定する消灯判定部166と、予め設定された第1所定数連続するフレームにおいて、信号機が消灯していると判定されたフレーム数が第1閾値を超えると、信号機が消灯または点滅していると判定する非点灯判定部168と、を備える。【選択図】図2
VEHICULAR OUTSIDE ENVIRONMENT RECOGNITION SYSTEM
車外環境認識装置
2015-09-28
Patent
Electronic Resource
Japanese
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