| 摘要 |
PROBLEM TO BE SOLVED: To appropriately specify an area to be controlled.SOLUTION: An outside-vehicle environment recognition device 120 causes a computer to function as: a fist grouping section 166 that groups, in an image photographed by an imaging device, blocks within a first distance range from each other to create first groups; and a second grouping section 168 that, in the case where the distance between the first groups is within a second distance range larger than the first distance range and the first groups are in a positional relationship of right and left sides in a width direction, when an integration condition is satisfied in which the number of blocks at positions distant by a predetermined threshold or more is less than a predetermined number, in an area between the first groups in the width direction where the position in a height direction overlaps with that of the first groups, integrates the first groups to create a second group, and when the integration condition is not satisfied, does not integrate the first groups.SELECTED DRAWING: Figure 2 |
