Environment recognition device and environment recognition method

摘要

There are provided an environment recognition device and an environment recognition method. The environment recognition device provisionally determines a specific object corresponding to a target portion from a luminance of a target portion, groups adjacent target portions provisionally determined to correspond to a same specific object as a target object, derives a representative distance that is a representative value of the relative distance of target portions in the target object, and grouping the target portions as the target object, the target portions corresponding to the same specific object with respect to the target object and the luminance, when a difference in horizontal distance from the target object of the target portions and a difference in height from the target object of the target portions fall within a first predetermined range, a difference between the relative distance and the representative distance of target portions falls within a second predetermined range.

主权项

1. An environment recognition device comprising:
a data retaining unit that retains ranges of luminance values in association with specific objects; a luminance obtaining unit that obtains luminance values of target portions in a detection area; a specific object provisional determining unit that provisionally determines a specific object corresponding to each of the target portions from the luminance values on the basis of the association retained in the data retaining unit; a target portion grouping unit that groups, as a target object, adjacent target portions provisionally determined to correspond to a same specific object; a position information obtaining unit that obtains a relative distance of each of the target portions from a vehicle on which the environment recognition device is mounted; a representative distance deriving unit that derives a representative distance that is a representative value of relative distances of target portions grouped into the target object; and a target object grouping unit that groups another target portion into the target object, when differences in a horizontal direction and a vertical direction between the another target portion and the target object fall within a first predetermined range and a difference between a relative distance of the another target portion from the vehicle and the representative distance of the target object falls within a second predetermined range, and when a luminance value of the another target portion corresponds to a luminance value of the target object.