A vehicle exterior environment recognition apparatus includes a stereo speed derivation unit, a monocular speed derivation unit, a predicted speed derivation unit, a mixture ratio derivation unit, and an object speed derivation unit. The stereo speed derivation unit derives a stereo speed indicating a speed of a three-dimensional object extracted from a distance image derived from luminance images of two image-capturing units. The monocular speed derivation unit derives a monocular speed indicating a speed of the three-dimensional object extracted from the luminance image of one of the image-capturing units. The predicted speed derivation unit derives a predicted speed based on a past speed of the three-dimensional object. The mixture ratio derivation unit derives a mixture ratio of the stereo, monocular, and predicted speeds. The object speed derivation unit mixes the stereo, monocular, and predicted speeds at the mixture ratio, to derive an object speed.
Vehicle exterior environment recognition apparatus
2023-09-05
Patent
Electronic Resource
English
IPC: | G06V / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |