OUTSIDE RECOGNITION DEVICE FOR VEHICLE, AND VEHICLE SYSTEM USING THE SAME

摘要

PROBLEM TO BE SOLVED: To stably identify a vehicle regardless of a state of a captured image.SOLUTION: An HOG (Histogram of Oriented Gradients) (first) feature amount calculation unit 310 calculates a first feature amount from an image captured by a camera 100 (an imaging unit) on the basis of a concentration gradient. An HOF (Histogram of Optical Flow) (second) feature amount calculation unit 320 calculates a second feature amount on the basis of an optical flow. A reliability calculation unit 410 calculates first reliability Rthat is higher as the concentration gradient is greater, and calculates second reliability Rthat is higher as the optical flow is greater. A first vehicle identification unit 420 identifies the vehicle on the basis of the first feature amount, and a second vehicle identification unit 430 identifies the vehicle on the basis of the second feature amount. A vehicle determination unit 400 determines presence/absence of the vehicle on the basis of the identification result of the first vehicle identification unit 420, the identification result of the second vehicle identification unit 430, the first reliability R, and the second reliability R.