To improve derivation accuracy of speed of a vehicle other than one's own vehicle.SOLUTION: According to an outside-vehicle environment recognition device, a computer serves as a position derivation unit for deriving a three-dimensional position of each block in an image acquired from an imaging apparatus, a grouping unit for specifying a three-dimensional object 224a by mutually grouping blocks, and a speed derivation unit for deriving speed of the three-dimensional object with an end part 232 in a depth direction on a side face of the three-dimensional object when satisfying a specific condition under which the side face of the three-dimensional object is included in an end part area 230 located on a horizontal direction end part side of the image.SELECTED DRAWING: Figure 8
【課題】自車両以外の車両の速度の導出精度を向上する。【解決手段】車外環境認識装置は、コンピュータが、撮像装置から取得した画像における各ブロックの3次元位置を導出する位置導出部と、ブロック同士をグループ化して立体物224aを特定するグループ化部と、立体物の側面が、画像の水平方向端部側に位置する端部領域230に含まれるという特定条件を満たせば、立体物の側面の奥行き方向の端部232を基準に立体物の速度を導出する速度導出部と、して機能する。【選択図】図8
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
車外環境認識装置および車外環境認識方法
2020-06-04
Patent
Electronic Resource
Japanese
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
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