| 摘要 |
PROBLEM TO BE SOLVED: To change an extraction condition of a feature point based on an edge and a color component at any time, for suppressing a number of the feature points in a predetermined range.SOLUTION: An outside-vehicle environment recognition device comprises: an image acquisition part for acquiring an image; a feature point specification part for specifying a pixel having edge strength equal to or more than a predetermined value as a feature point by using the image; a traffic sign specification part for specifying a circular road traffic sign based on the feature point; and a traffic sign content recognition part for recognizing a content of the specified road traffic sign. The feature point specification part makes a predetermined value larger (S244) when a number of the specified feature points exceeds a predetermined feature point upper limit value (YES in S240), and makes the predetermined value smaller (S250) when a number of the specified feature points is less than a predetermined feature point lower limit value (YES in S246), and uses the number of feature points for next time comparison with edge strength. |
