To provide a vehicle external environment recognition device for quickly and accurately detecting a specific object such as a bicycle.SOLUTION: A vehicle external environment recognition device 120 includes: a three-dimensional object region specification unit 160 for specifying a three-dimensional object region including a three-dimensional object on a screen; a bicycle determination unit 162 for determining bicycle-likeness based on an occupied state of the three-dimensional object in each of a plurality of segmented regions that divide the three-dimensional object region relative to a vertical direction; and a bicycle specification unit 164 for specifying the three-dimensional object as a bicycle based on the bicycle-likeness.SELECTED DRAWING: Figure 3
【課題】自転車等の特定物を迅速かつ正確に検出する車外環境認識装置を提供する。【解決手段】車外環境認識装置120は、画面において、立体物を含む立体物領域を特定する立体物領域特定部160と、立体物領域を垂直方向に対して分割した複数の分割領域それぞれにおける立体物の占有状態に基づいて自転車らしさを判定する自転車判定部162と、自転車らしさに基づいて立体物を自転車と特定する自転車特定部164と、を備える。【選択図】図3
VEHICLE EXTERNAL ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2021-05-27
Patent
Electronic Resource
Japanese