VEHICLE EXTERIOR ENVIRONMENT RECOGNITION APPARATUS

VEHICLE EXTERIOR ENVIRONMENT RECOGNITION APPARATUS

The invention provides a vehicle exterior environment recognition apparatus which stably derives the speed of a three-dimensional object. The vehicle exterior environment recognition apparatus (120) includes a stereo speed derivation unit (160), a monocular speed derivation unit (162), a predicted s...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: GOTO YUSUKE, TAKAHASHI NAOKI, KATSUNO YUKI
Format: Patent
Sprache:chi ; eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
ELECTRIC COMMUNICATION TECHNIQUE
ELECTRICITY
PHYSICS
PICTORIAL COMMUNICATION, e.g. TELEVISION
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Beschreibung
Zusammenfassung:The invention provides a vehicle exterior environment recognition apparatus which stably derives the speed of a three-dimensional object. The vehicle exterior environment recognition apparatus (120) includes a stereo speed derivation unit (160), a monocular speed derivation unit (162), a predicted speed derivation unit (164), a mixture ratio derivation unit (166), and an object speed derivation unit (168). The stereo speed derivation unit derives a stereo speed indicating a speed of a three-dimensional object extracted from a distance image derived from luminance images of two image-capturing units. The monocular speed derivation unit derives a monocular speed indicating a speed of the three-dimensional object extracted from the luminance image of one of the image-capturing units. The predicted speed derivation unit derives a predicted speed based on a past speed of the three-dimensional object. The mixture ratio derivation unit derives a mixture ratio of the stereo, monocular, and predicted speeds. The objec