Vehicle exterior environment recognition apparatus
A vehicle exterior environment recognition apparatus includes a computer configured to serve as a vehicle identifier, a candidate identifier, a shift amount deriving unit, a candidate remover, and a lamp determiner. The vehicle identifier identifies, from respective captured images, a preceding vehicle and a vehicle region occupied by the preceding vehicle. The candidate identifier identifies, as a light-emission source candidate, a candidate determinable as a light-emission source in the identified vehicle region. The shift amount deriving unit derives a shift amount in a predetermined period of the light-emission source candidate in the vehicle region. The candidate remover removes, from the light-emission source candidate identified by the candidate identifier, the light-emission source candidate in which the shift amount is equal to or greater than a predetermined shift amount threshold. The lamp determiner determines whether the light-emission source candidate, unremoved by the candidate remover, is a lighted lamp.
1. A vehicle exterior environment recognition apparatus, comprising a computer, wherein the computer
identifies, from respective images that are continuously captured by an image-capturing unit, a preceding vehicle and a vehicle region occupied by the preceding vehicle;
identifies, as light-emission source candidates, candidates determinable as light-emission sources in the identified vehicle region;
derives position shift amounts, with respect to the identified vehicle region, of the light light-emission source candidates in a predetermined period, by comparing two among the respective images captured at an interval of the predetermined period;
removes, from the light-emission source candidates, a light-emission source candidate having the position shift amount equal to or greater than a predetermined shift amount threshold; and
determines that one or more light-emission source candidates which are not removed from the light-emission source candidates and which have the position shift amounts less than the predetermined shift amount threshold are one or more lighted lamps of the preceding vehicle.
2. The vehicle exterior environment recognition apparatus according to claim 1 , wherein the computer derives the position shift amounts of geometric center-of-gravity positions of the light-emission source candidates, with respect to the identified vehicle region.
3. The vehicle exterior environment recognition apparatus according to claim 1 ,
wherein the computer further removes, from the light-emission source candidates, a light-emission source candidate excluding one or more pairs of light-emission source candidates, after the removal of the light-emission source candidate having the position shift amount equal to or greater than the predetermined shift amount threshold, and
wherein each of the one or more pairs of light-emission source candidates comprises a first light-emission source candidate and a second light-emission source candidate having a predetermined positional relationship with the first light-emission source candidate.