PROBLEM TO BE SOLVED: To specify a light emission source accurately and in an early stage.SOLUTION: A vehicle-outside environment recognition device 120 specifies a light emission source candidate as an overexposed white light emission source, and sets a predetermined range in the vicinity of the overexposed white light emission source on the vehicle area, as an overexposed white area when the light emission source candidate on a vehicle area satisfies a predetermined overexposed white condition. Then, to light emission source candidates positioned on a range other than the overexposed white range, it is determined whether or not, each of the light emission source candidates is a lamp which is a lighting state, based on a number of pixels or pixel area satisfying a predetermined color condition. To the light emission source candidate on the overexposed white area, it is determined whether or not the light emission source candidate is a lamp in the lighting state, based on a number of pixels or pixel area satisfying a color condition having higher intensity than that of the color condition of the non-overexposed white range.SELECTED DRAWING: Figure 2
【課題】早期に精度よく発光源を特定する。【解決手段】車外環境認識装置120は、車両領域における発光源候補が所定の白とびの条件を満たした場合に、その発光源候補を白とび発光源として特定し、車両領域における白とび発光源近傍の所定の範囲を白とび範囲として設定し、特定された発光源候補のうち、白とび範囲以外に位置する発光源候補に対しては、所定のカラー条件を満たした画素数または画素面積に基づいて点灯状態のランプであるか否かを判定し、白とび範囲内に位置する発光源候補に対しては、非白とび範囲のカラー条件より高い強度のカラー条件を満たした画素数または画素面積に基づいて点灯状態のランプであるか否かを判定する。【選択図】図2
VEHICLE-OUTSIDE ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2016-06-20
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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