| 摘要 |
<p>To provide an onboard environment recognition system capable of preventing, with a reduced processing load, erroneous recognition caused by light from a headlight of a vehicle in the surroundings. An onboard environment recognition system 100 has a light source extraction unit 300 that extracts a light source from an image, a light information unit 400 that extracts light whose light source causes erroneous detection in environment recognition based on the position of the light source in the image and estimates light information including information on the light intensity, the three-dimensional position and the light distribution pattern of the light, a road surface reflection estimation unit 500 that estimates, based on the light information, a road surface reflection estimation image region in the image in which the light is reflected on a road surface, and an onboard environment recognition unit 600 that recognizes the environment surrounding the vehicle based on the road surface reflection estimation image region.</p> |
