PROBLEM TO BE SOLVED: To allow identification accuracy of a traffic light to be enhanced.SOLUTION: A vehicle exterior environment recognition device 120 comprises: an object identification unit 164 that identifies a light emitting body of a traffic light and a traffic light color of the light emitting body; a three-dimensional location information generation unit 162 that derives a location of the light emitting body; and an object exclusion unit 166 that excludes a light emitting body of a red traffic light color from an object serving as a control object with the light emitting body as a condition where a light emitting body of other traffic light color exists at the same distance as a relative distance to the light emitting body of the red traffic light color, and above the light emitting body of the red traffic light color with the light emitting body of the red traffic light color as a reference when the light emitting body is plurally detected and at least one light emitting body is the red traffic light color.
【課題】信号機の特定精度を高めることが可能となる。【解決手段】車外環境認識装置120は、信号機の発光体、および、該発光体の信号色を特定する対象物特定部164と、発光体の位置を導出する3次元位置情報生成部162と、発光体が複数検出され、かつ、少なくとも1の発光体が赤色信号色である場合、赤色信号色の発光体を基準として、赤色信号色の発光体と相対距離が同一とされる距離で、かつ、赤色信号色の発光体の上方に他の信号色の発光体があることを条件として、赤色信号色の発光体を制御対象となる対象物から除外する対象物除外部166とを備える。【選択図】図2
VEHICLE EXTERIOR ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2015-12-10
Patent
Electronic Resource
Japanese