| 摘要 |
PROBLEM TO BE SOLVED: To accurately discriminate the lighting state of a light emission source of a preceding vehicle.SOLUTION: A navigation device includes: sunlight determination means for determining whether or not sunlight is reflected against the back of a preceding vehicle being another vehicle present in front of a self vehicle (S210); generation means for defining an area where the preceding vehicle is visible in an image captured in front of the self vehicle as a preceding vehicle image, and generating the average image of the preceding vehicle images visible in the captured images on the basis of the captured images captured over a predetermined imaging period (S230); and lighting state discrimination means for discriminating the lighting state of a light emission source in the preceding vehicle on the basis of the luminance of pixels constituting the preceding vehicle image of the preceding vehicle and the luminance of pixels constituting the average image of the preceding vehicle when sunlight is reflected (S220).SELECTED DRAWING: Figure 4 |
