PROBLEM TO BE SOLVED: To provide a road environment recognition device capable of improving recognition accuracy for recognizing a protrusion around a road in a case of recognizing the protrusion.SOLUTION: A first region extraction unit 13 extracts first regions 61d to 63d defined by edge points and higher in brightness than a surrounding portion from an edge image 22. An object recognition unit 14 recognizes a protrusion present on a road on the basis of a third region that is a region of a combination of the first regions 61d to 63d and second regions 61e to 63e if the second regions 61e to 63e lower in brightness than the surrounding portion are present around the first regions 61d to 63d in the edge image 22.

    【課題】道路周辺の突出物の認識にあたって、当該突出物の認識精度を向上させることができる道路環境認識装置を提供する。【解決手段】第1領域抽出部13は、エッジ画像22から、エッジ点で区画され、周囲部よりも輝度が高い第1領域61d〜63dを抽出する。物体認識部14は、エッジ画像22において、周囲部よりも輝度が低い第2領域61e〜63eが第1領域61d〜63dの周囲に存在しているときに、第1領域61d〜63dと当該第2領域61e〜63eとを合わせた領域である第3領域に基づいて道路に存在する突出物を認識する。【選択図】 図4


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    Title :

    ROAD ENVIRONMENT RECOGNITION DEVICE


    Additional title:

    道路環境認識装置


    Contributors:

    Publication date :

    2015-11-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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



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