To suppress a deviation in a relative distance of a three-dimensional object.SOLUTION: A vehicle exterior environment recognition apparatus 120 includes: a monocular distance calculator 168 which calculates a monocular distance being a relative distance of a three-dimensional object from a luminance image generated by an imaging unit 110; a relaxation distance calculator 162 which calculates a relaxation distance being a relative distance of the three-dimensional object having a more lenient threshold for determining a degree of image matching than a stereo distance being a relative distance of the three-dimensional object calculated on the basis of the degree of image matching between the luminance images generated by two imaging units 110; and an updated distance calculator 170 which calculates an updated distance being the updated relative distance of the three-dimensional object by mixing the monocular distance and the relaxation distance at a predetermined ratio.SELECTED DRAWING: Figure 3

    【課題】立体物の相対距離のずれを抑制する。【解決手段】車外環境認識装置120は、1個の撮像装置110の輝度画像に基づいて立体物の相対距離である単眼距離を導出する単眼距離導出部168と、2個の撮像装置110の輝度画像間における画像一致度に基づいて導出される立体物の相対距離であるステレオ距離よりも、画像一致度を判断する閾値が緩い立体物の相対距離である緩和距離を導出する緩和距離導出部162と、単眼距離と緩和距離とを所定の比率で混合して、立体物の更新された相対距離である更新距離を導出する更新距離導出部170と、を備える。【選択図】図3


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    Title :

    VEHICLE EXTERIOR ENVIRONMENT RECOGNITION APPARATUS


    Additional title:

    車外環境認識装置


    Contributors:

    Publication date :

    2021-12-13


    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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