| 摘要 |
PROBLEM TO BE SOLVED: To highly accurately detect a preceding vehicle even in the case that a shadow of something other than the preceding vehicle is present in front of its own vehicle. SOLUTION: A preceding vehicle recognizing device is provided with an image input device 11 picking up an image of the front part of its own vehicle, a traveling lane detection part 21 detecting a traveling lane area of its own vehicle from the front part image, a traveling lane density value distribution output part 22 detecting a density value distribution in a vertical direction of the traveling lane area, a preceding vehicle shadow candidate area detection part 23 comparing the density value distribution with a prescribed value and detecting an area where a density value is smaller than the prescribed value as a preceding vehicle shadow candidate area indicating a candidate area of a preceding vehicle shadow, a preceding vehicle shadow area specifying part 24 specifying the area where the density value is in a prescribed range on the basis of the density value distribution of the preceding vehicle shadow candidate area and specifying the preceding vehicle shadow area, and a preceding vehicle detection part 25 detecting the preceding vehicle shadow area and detecting the preceding vehicle. |
