IN-VEHICLE ENVIRONMENT RECOGNITION APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide an in-vehicle environment recognition apparatus which identifies a factor that makes an object obscure and recognizes the object after removing the factor if it can be removed.SOLUTION: An in-vehicle environment recognition apparatus includes: an imaging unit that acquires an image captured by a camera disposed in the rear of a vehicle; a light source environment estimation unit that acquires exposure information from the image; a feature quantity extraction unit that extracts feature quantity from the image; a state determination unit that determines a lens contamination state of the camera on the basis of a relevance between the feature quantity and the exposure information; and an application control unit including processing for determining whether to execute a recognition application on the basis of the lens contamination state and processing for controlling removal of lens contamination on the basis of the lens contamination state.