Environment recognition device and environment recognition method
View Patent ↗There are provided an environment recognition device and an environment recognition method. The environment recognition device obtains luminances of a target portion in a detection area of a luminance image, assigns a color identifier to the target portion according to the luminances of the target portion, based on association between a color identifier and a luminance range retained in a data retaining unit, and groups target portions assigned one of one or more color identifiers associated with a same specific object, and of which position differences in the width direction and in the height direction are within a predetermined range, based on association between the color identifier and the luminance range retained in the data retaining unit.
1. An environment recognition device mounted on a vehicle, comprising:
a data retaining unit that retains association between color identifiers and a luminance range, and retains association between color identifiers and a specific object in front of the vehicle;
a luminance obtaining unit that obtains a luminance of a target portion in a detection area of a luminance image;
a color identifier assigning unit that assigns a color identifier to the target portion according to the luminance of the target portion, based on the association between the color identifier and the luminance range retained in the data retaining unit; and
a grouping unit that extracts and groups a first number of target portions each assigned any one of the color identifiers associated with the same specific object, and of which position differences in the horizontal direction and in the vertical direction are within a predetermined range, based on the association between the specific object and the color identifiers retained in the data retaining unit, wherein
the data retaining unit retains a representing color identifier for the specific object, the representing color identifier being one of the color identifiers associated with the specific object,
the grouping unit groups all the first number of target portions only when a second number of target portion assigned the representing color identifier of the specific object is included in the first number of target portions,
the first number of target portions varies according to a distance of the specific object from the vehicle, and
the second number of target portions varies in accordance with the first number of target portions.
2. The environment recognition device according to claim 1 , wherein the grouping unit may replace all the color identifiers of the grouped target portions with the representing color identifier.
3. An environment recognition method for a vehicle, comprising:
obtaining a luminance of a target portion in a detection area of a luminance image;
assigning a color identifier to the target portion according to the luminance of the target portion, based on association between the color identifier and a luminance range retained in a data retaining unit; and
extracting and grouping a first number of target portions each assigned any one of color identifiers associated with a specific object in front of the vehicle, and of which position differences in the horizontal direction and in the vertical direction are within a predetermined range, based on the association between the specific object and the color identifiers retained in the data retaining unit, wherein
the data retaining unit retains a representing color identifier for the specific object, the representing color identifier being one of the color identifiers associated with the specific object,
the extracting and grouping groups all the first number of target portions only when a second number of target portions assigned the representing color identifier of the specific object is included in the first number of target portions,
the first number of target portions varies according to a distance of the specific object from the vehicle, and
the second number of target portions varies in accordance with the first number of target portions.
4. An environment recognition device mounted on a vehicle, comprising:
a memory retaining association between color identifiers and a luminance range, and retaining association between color identifiers and a specific object in front of the vehicle; and
a processor configured to perform:
obtain a luminance of a target portion in a detection area of a luminance image;
assign a color identifier to the target portion according to the luminance of the target portion, based on the association between the color identifier and the luminance range in the memory; and
extract and group a first number of target portions each assigned any one of the color identifiers associated with the same specific object, and of which position differences in the horizontal direction and in the vertical direction are within a predetermined range, based on the association between the specific object and the color identifiers in the memory, wherein
the memory retains a representing color identifier for the specific object, the representing color identifier being one of the color identifiers associated with the specific object,
the processor is further configured to group all the first number of extracted target portions only when a second number of target portions assigned the representing color identifier of the specific object is included in the first number of target portions,
the first number of target portions varies according to a distance of the specific object from the vehicle, and
the second number of target portions varies in accordance with the first number of target portions.
5. The environment recognition device according to claim 4 , wherein the processor is configured to replace all the color identifiers of the grouped target portions with the representing color identifier.