| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve accuracy of identifying an object and avoid false recognition in environment where light is liable to diffuse such as rainy weather. <P>SOLUTION: An environment recognition device 130 acquires luminance of a target portion being present in a detection area, and sets a color identifier to the target portion according to the luminance of the target portion on the basis of an association between the color identifier retained in a data retaining unit 152 and a luminance range (S300), groups, as the target object, target portions in which differences in horizontal distance and in height are within a predetermined, which correspond to a same specific object, and to which one or a plurality of the color identifiers are set on the basis of the association between a specific object and the color identifier retained in the data retaining unit (S302), and defines, as an outer edge of the target object, from among target objects, an outer edge specified by the target portion to which a color identifier is assigned, the color identifier being selected according to whether or not it is environment where light is diffused (S304). <P>COPYRIGHT: (C)2013,JPO&INPIT |
