To provide an environment recognition device and an environment recognition method capable of performing appropriate vehicle control even in a situation in which the performance in detecting a road surface condition using camera images is degraded.SOLUTION: An environment recognition device with a processing unit recognizes the external environment on the basis of multiple images acquired by multiple imaging devices for capturing images of the outside of a vehicle. The processing unit is configured to: detect a first on-road structure candidate that is a candidate of an on-road structure existing on the road surface which is imaged on the basis of parallax information acquired from multiple images; detect a second on-road structure candidate that is a candidate of an on-road structure existing on the road surface which is imaged on the basis of the parallax information and shading information on the image; determine the position and size of the on-road structure on the basis of the detection results related to the first on-road structure candidate and the second on-road structure candidate; and output information related to the on-road structure whose position and size have been determined to a vehicle control device of the vehicle.SELECTED DRAWING: Figure 1

    【課題】カメラ画像による路面状態の検知性能が低下する状況下であっても適切な車両制御を行うことが可能な環境認識装置および環境認識方法を提供する。【解決手段】車両の車外を撮像する複数の撮像装置により取得された複数の画像に基づいて外界環境を認識する、演算装置を備えた環境認識装置であって、演算装置は、複数の画像から得られる視差情報に基づいて、画像に撮像された路面に存在する路上構造物の候補を示す第1の路上構造物候補を検知し、視差情報及び画像の濃淡情報に基づいて、画像に撮像された路面に存在する路上構造物の候補を示す第2の路上構造物候補を検知し、第1の路上構造物候補および第2の路上構造物候補に関する検知結果に基づいて、路上構造物の位置および大きさを求め、位置および大きさを求めた路上構造物に関する情報を車両の車両制御装置に出力する。【選択図】図1


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    Title :

    ENVIRONMENT RECOGNITION DEVICE AND ENVIRONMENT RECOGNITION METHOD


    Additional title:

    環境認識装置および環境認識方法


    Contributors:

    Publication date :

    2025-01-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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




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