| 摘要 |
PROBLEM TO BE SOLVED: To detect floating matter such as steam or exhaust gas with accuracy.SOLUTION: An outside-vehicle environment recognition device 120 includes: a three-dimensional object specification unit 164 for specifying a three-dimensional object from an image acquired for each predetermined interval; a floating matter specification unit 166 which determines whether the three-dimensional object has a feature like floating matter on the basis of a first determination condition, adding scores in a case where the three-dimensional object has the feature like floating matter, subtracting the score in a case where the three-dimensional object does not have the feature like floating matter, specifying the three-dimensional object as floating mater in a case where the score is larger than a predetermined score threshold, and specifying the three-dimensional object as non-floating matter in a case where the score is equal to or less than the score threshold; and a score reset unit 170 which resets a score when it is determined that the three-dimensional object is specified as non-floating matter by the floating matter specification unit on the basis of an image acquired previous time or before, and the three-dimensional object has the feature like floating matter on the basis of a second determination condition different from the first determination condition in an image acquired this time. |
