A vehicle external recognition extracts a feature point from an image including an environment around a vehicle; measures a distance from the vehicle to the feature point based on a movement of the feature point; extracts, as a first road surface area, a local area judged as a road surface based on distance information to the feature point and a position of the feature point in the image from among a plurality of local areas in the image; calculates a multi-dimensional image feature amount including color information for each of the plurality of local areas, and similarity to the first road surface area using the image feature amount with respect to a no-road-surface-extracted area(s) from among the plurality of local areas; extracts a second road surface area from the no-road-surface-extracted area(s) based on the similarity; and recognizes a travelable area using the first and the second road surface areas.
VEHICLE EXTERNAL RECOGNITION APPARATUS
2020-07-09
Patent
Electronic Resource
English