Environment recognizing device for a vehicle and vehicle control system using the same

摘要

An environment recognizing device for a vehicle is provided that can correctly detect a preceding vehicle in a scene, such as for instance the dusk, which is under an illumination condition different from that in the daytime. The device detects a vehicle external shape while detecting vehicle taillights, and determines a region in which the vehicle external shape and the vehicle taillights move in synchronization, as a vehicle.

主权项

1. An environment recognizing device for a vehicle, comprising:
an image acquisition section for acquiring an image taken around an own vehicle; a first vehicle candidate region detection section for detecting a vehicle candidate region from the image using image gradient information; a second vehicle candidate region detection section for detecting a vehicle candidate region from the image using image color information; and a vehicle determination section for determining presence or absence of a vehicle using the first vehicle candidate region and the second vehicle candidate region, wherein the vehicle determination section determines a region in which the first vehicle candidate region and the second vehicle candidate region overlap with each other and move in synchronization, as a vehicle.