| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that even the same road marking cannot be accurately recognized in some cases due to luminance difference when the road markings of different luminance are both included in a coverage wherein the road marking illuminated with headlights and the road marking not illuminated coexist in a picked-up image during nighttime driving or the like. SOLUTION: This surrounding recognition device comprises a vehicle attitude detecting means for detecting the attitude of a vehicle; a projection range position estimating means for estimating the position of a projection range projected by a projecting means in the picked-up image; and a coverage moving means for moving the coverage based on the estimated result of the projection range position estimating means. The coverage is moved according to the movement of the projection range. COPYRIGHT: (C)2008,JPO&INPIT
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