VEHICLE ENVIRONMENT RECOGNITION APPARATUS

PROBLEM TO BE SOLVED: To provide an apparatus for matching the recognition result of the color of each pixel in a color image with the color perception of human being in response to difference in environment around a vehicle. SOLUTION: The vehicle environment recognition apparatus 100 calculates a color position by coordinate-conversion of the original position in the RGB space showing the color of each pixel of the color image into L*a*b*space. Further, illuminance (or brightness) is measured, the color position of the pixel is corrected so as to be displaced in parallel to the L*axis based on the measured value, and each pixel is determined to be a pixel having a color corresponding to the region including the corrected color position. The correction of the color position reduces or eliminates the influence of the difference in illuminance or brightness around the vehicle 1 to the color recognition manner. One color is determined as a color of each pixel correspondingly to one region defined according to the difference of conspicuity in the color space, difference of warm color and cold color, difference of expansive color and contracting color, or the like. COPYRIGHT: (C)2010,JPO&INPIT