| 摘要 |
<p>PROBLEM TO BE SOLVED: To properly determine a change of a color value of a light emission source in a preceding vehicle by simple constitution and processing.SOLUTION: A vehicle external environment recognition device 120 comprises: a time transition derivation part 170 which counts, at each color condition, a pigment number satisfying a plurality of the color conditions based on a plurality of preset color thresholds in a vehicle region of a preceding vehicle, converts the pigment number into an area on the basis of a relative distance of the preceding vehicle, and drives the time transition of the area at each color condition; a time transition extraction part 172 which extracts the time transition of the color condition which is in a correlation with a change of an absolute acceleration speed of the preceding vehicle from the time transition which is derived at each color condition; and a color change determination part 174 which determines a state that a color value of a light emission source at the preceding vehicle is high, and a state that the color value is low on the basis of the extracted time transition.</p> |
