| 摘要 |
<P>PROBLEM TO BE SOLVED: To detect floating matters such as steam or exhaust gas with high accuracy. <P>SOLUTION: An environment recognition device 130 comprises: a positional information acquisition unit 160 for acquiring positional information including relative distances with respect to a target vehicle 1 for object portions existing within a detection region 122; a grouping unit 162 for grouping the plurality of object portions to take the groups as objects on the basis of the positional information; a luminance acquisition unit 164 for acquiring the luminances of the objects in an image; a luminance distribution generation unit 166 for generating a histogram of the luminances of the objects in the image; and a floating matter determination unit 168 for determining whether or not the objects are floating matters by a statistical analysis for the histogram. <P>COPYRIGHT: (C)2013,JPO&INPIT |
