| 摘要 |
PROBLEM TO BE SOLVED: To highly accurately determine lighting of a brake lamp.SOLUTION: A vehicle exterior environment recognition device 120 comprises: an image acquisition unit 160 for acquiring an image; a vehicle identification unit 164a for identifying a vehicle region occupied by a preceding vehicle in the image; a light-emitting-source-candidate identification unit 164b for identifying one or a plurality of candidates of light-emitting sources as light-emitting source candidates; and a brake lamp identification unit 170 for determining whether light-emitting source candidates turned on for a preset first period satisfy a preset pair condition for pairing with the other light-emitting source candidate among the identified light-emitting source candidates, and determining the light-emitting source candidate determined to satisfy the pair condition and the light-emitting source candidate that is determined not to satisfy the pair condition and that is turned on for a second period longer than the first period as a brake lamp. |
