PROBLEM TO BE SOLVED: To appropriately specify a three-dimensional object to be a candidate of a preceding vehicle.SOLUTION: An outside-vehicle recognition device 120 includes a computer that functions as: a histogram creation part 164 that creates a histogram in which for each of a plurality of divided areas obtained by dividing an image photographed by an imaging device 110 in the horizontal direction, the relative distance between a plurality of blocks in a divided area is allocated to a plurality of classes; a peak extraction part 166 that extracts, in order from a class of the histogram having the shortest relative distance, a pre-peak area where the frequency of allocation to a class is equal to or larger than a first frequency, a bottom area where the frequency is smaller than that of the pre-peak area, and a post-peak area where the frequency is larger than that of the bottom area; and an area dividing part 168 that, when all the pre-peak area, bottom area, and post-peak area are extracted, takes the pre-peak area and the post-peak area as different three-dimensional objects with the bottom area.SELECTED DRAWING: Figure 2
【課題】先行車両の候補となる立体物を適切に特定する。【解決手段】車外環境認識装置120は、コンピュータが、撮像装置110により撮像された画像を水平方向に対して分割した複数の分割領域毎に、分割領域内の複数のブロックの相対距離を複数の階級に振り分けたヒストグラムを生成するヒストグラム生成部164と、ヒストグラムの階級のうち相対距離の短い方側から順に、階級に振り分けられた度数が第1度数以上となる前ピーク領域、前ピーク領域と比較して度数の小さいボトム領域、ボトム領域と比較して度数の大きい後ピーク領域を抽出するピーク抽出部166と、前ピーク領域、ボトム領域、後ピーク領域がすべて抽出された場合に、ボトム領域によって前ピーク領域と後ピーク領域とを異なる立体物とする領域分割部168と、して機能することを特徴とする。【選択図】図2
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2016-10-27
Patent
Electronic Resource
Japanese
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