| 摘要 |
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 |
