Vehicle external environment recognition device
View Patent ↗A vehicle exterior environment recognition device includes a three-dimensional position deriving module that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area, an object identifying module that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object, a positional point deriving module that derives a positional point based on positional information of the object, an appearance point deriving module that derives an appearance point based on appearance information of the object, and a pedestrian identifying module that identifies the object to be a pedestrian when a pedestrian point that is obtained by at least adding the positional point to the appearance point equals to or greater than a predetermined threshold.
1. A vehicle external environment recognition device, comprising:
a three-dimensional position deriving module that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area;
an object identifying module that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object;
a positional point deriving module that derives a positional point based on positional information related to the position of the object;
an appearance point deriving module that derives an appearance point based on appearance information related to the appearance of the object; and
a pedestrian identifying module that identifies the object to be a pedestrian when a pedestrian point that is obtained by at least adding the positional point to the appearance point equals to or greater than a predetermined threshold.
2. The vehicle external environment recognition device of claim 1 , wherein the pedestrian identifying module identifies the object to be a pedestrian when the appearance point is a predetermined value or greater and the pedestrian point equals to or greater than the threshold.
3. The vehicle external environment recognition device of claim 1 , wherein the positional point is derived based on one or more parameters selected from the group consisting of a traveling path lateral position, a traveling speed, and an accumulated moving amount of the object.
4. The vehicle external environment recognition device of claim 2 , wherein the positional point is derived based on one or more parameters selected from the group consisting of a traveling path lateral position, a traveling speed, and an accumulated moving amount of the object.
5. The vehicle external environment recognition device of claim 1 , wherein the appearance point is derived based on one or more parameters selected from the group consisting of a height, an aspect ratio, a spatial relationship, a partiality, an artificiality, a contour agreement, and a caution level of the object.
6. The vehicle external environment recognition device of claim 2 , wherein the appearance point is derived based on one or more parameters selected from the group consisting of a height, an aspect ratio, a spatial relationship, a partiality, an artificiality, a contour agreement, and a caution level of the object.
7. The vehicle external environment recognition device of claim 3 , wherein the appearance point is derived based on one or more parameters selected from the group consisting of a height, an aspect ratio, a spatial relationship, a partiality, an artificiality, a contour agreement, and a caution level of the object.
8. The vehicle external environment recognition device of claim 4 , wherein the appearance point is derived based on one or more parameters selected from the group consisting of a height, an aspect ratio, a spatial relationship, a partiality, an artificiality, a contour agreement, and a caution level of the object.
9. The vehicle external environment recognition device of claim 1 , further comprising:
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object o identify the object o be a pedestrian based on a result of the comparison.
10. The vehicle external environment recognition device of claim 2 , further comprising:
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.
11. The vehicle external environment recognition device of claim 3 , further comprising:
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.
12. The vehicle external environment recognition device of claim 4 , further comprising:
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.
13. The vehicle external environment recognition device of claim 5 , further comprising:
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.
14. The vehicle external environment recognition device of claim 6 , further comprising:
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.
15. The vehicle external environment recognition device of claim 7 , further comprising:
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.
16. The vehicle external environment recognition device of claim 8 , further comprising:
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.
17. A vehicle external environment recognition device, comprising:
a three-dimensional position deriving module that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area;
an object identifying module that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object;
a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and
a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.