VEHICLE EXTERIOR ENVIRONMENT RECOGNITION DEVICE, AND VEHICLE EXTERIOR ENVIRONMENT RECOGNITION METHOD

摘要

PROBLEM TO BE SOLVED: To improve detection accuracy of a moving object even when a vehicle turns.SOLUTION: A vehicle exterior environment recognition device 120 includes: an image data acquisition unit that acquires image data of a vehicle exterior environment photographed through a wide angle lens; an image cut-out unit 160 that cuts out a partial image having a predetermined position and size from an image based on the image data; a flow vector derivation unit 162 that derives a plurality of flow vectors in the partial image; a reference line derivation unit 164 that derives a determination reference line that is extended in a vertical direction according to an arrangement relation among the plurality of flow vectors; and a grouping unit 166 that groups flow vectors indicating a moving object on the basis of the determination reference line.