To suppress erroneous recognition of a preceding vehicle to be tracked.SOLUTION: An external environment recognizing device for a vehicle includes: a position derivation part for deriving a three-dimensional position of a block unit in an imaged image; a three-dimensional object specification part for grouping blocks, in which the difference in three-dimensional positions exists within a predetermined range, to specify a three-dimensional object; a specific object specification part for specifying a preceding vehicle (portion 234) and a side wall 232a, 232b from the three-dimensional object: and a vehicle tracking part for predicting a future position of the preceding vehicle and tracking the preceding vehicle. The vehicle tracking part determines whether the preceding vehicle corresponds to a part of the side wall.SELECTED DRAWING: Figure 9

    【課題】追跡対象の先行車両の誤認識を抑制する。【解決手段】車外環境認識装置は、撮像された画像におけるブロック単位の三次元位置を導出する位置導出部と、三次元位置の差分が所定範囲内にあるブロック同士をグルーピングして立体物を特定する立体物特定部と、立体物から先行車両(部分234)および側壁232a、232bを特定する特定物特定部と、先行車両の未来の位置を予測して先行車両を追跡する車両追跡部と、を備え、車両追跡部は、先行車両が側壁の一部に相当するか否か判定する。【選択図】図9


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    Title :

    EXTERNAL ENVIRONMENT RECOGNIZING DEVICE FOR VEHICLE


    Additional title:

    車外環境認識装置


    Contributors:

    Publication date :

    2022-03-16


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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