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 cover identifier, and a lamp determiner. The vehicle identifier identifies, from an image captured by an image-capturing unit, 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 cover identifier identifies a cover in the identified vehicle region. The cover covers the light-emission source. The lamp determiner determines whether the light-emission source candidate is a lighted lamp, based on a lighted-state determination threshold and one of the number of pixels and pixel area of the identified light-emission source candidate. The lighted-state determination threshold is based on one of the number of pixels and pixel area of the cover identified by the cover identifier.
1. A vehicle exterior environment recognition apparatus, comprising:
a computer configured to serve as:
a vehicle identifier that identifies, from an image captured by an image-capturing unit, a preceding vehicle and a vehicle region occupied by the preceding vehicle;
a vehicle light candidate identifier that identifies first pixels corresponding to a vehicle light candidate that include first color values having first color intensities or higher in the identified vehicle region;
a vehicle light cover identifier that identifies second pixels corresponding to a vehicle light cover that include second color values having second color intensities or higher in the identified vehicle region, the identified vehicle light cover identified as covering the identified vehicle light candidate, the second color intensities being lower in color intensity than the first color intensities;
a lighted-state determination threshold determiner that calculates a lighted-state determination threshold based on any one of a second counted number of the second pixels and a second area of the identified vehicle light cover calculated based on the second counted number of the second pixels; and
a lamp determiner that determines whether the identified vehicle light candidate covered by the identified vehicle light cover is a lighted vehicle light or a non-lighted vehicle light, based on the lighted-state determination threshold and based on any one of a first counted number of the first pixels and a first area of the vehicle light candidate calculated based on the first counted number of the first pixels.
2. The vehicle exterior environment recognition apparatus according to claim 1 , wherein the computer further serves as:
a cover area converter that counts the second counted number of the second pixels and converts, based on a relative distance between an own vehicle and the preceding vehicle, the second counted number of the second pixels into the second area of the identified vehicle light cover; and
a candidate area converter that counts the first counted number of the first pixels and converts, based on the relative distance, the first counted number of the first pixels into the first area of the identified vehicle light candidate,
wherein the lamp determiner determines that the identified vehicle light candidate is corresponding to the lighted vehicle light, when the first area of the identified vehicle light candidate is equal to or greater than the lighted-state determination threshold that is based on the second area of the identified vehicle light cover.
3. The vehicle exterior environment recognition apparatus according to claim 2 , wherein the lighted-state determination threshold increases in proportion to the second area of the identified vehicle light cover.
4. The vehicle exterior environment recognition apparatus according to claim 1 , wherein the computer further serves as an environment determiner that determines an external environment of a own vehicle, based on the image captured by the image-capturing unit,
wherein the lighted-state determination threshold is set based on the external environment determined by the environment determiner, and based on either the second counted number of the second pixels or the second area of the identified vehicle light cover.
5. The vehicle exterior environment recognition apparatus according to claim 2 , wherein the computer further serves as an environment determiner that determines an external environment of a own vehicle, based on the image captured by the image-capturing unit,
wherein the lighted-state determination threshold is set based on the external environment determined by the environment determiner, and based on either the second counted number of the second pixels or the second area of the identified vehicle light cover.
6. The vehicle exterior environment recognition apparatus according to claim 3 , wherein the computer further serves as an environment determiner that determines an external environment of a own vehicle, based on the image captured by the image-capturing unit,
wherein the lighted-state determination threshold is set based on the external environment determined by the environment determiner, and based on either the second counted number of the second pixels or the second area of the identified vehicle light cover.
7. The vehicle exterior environment recognition apparatus according to claim 4 , wherein
the environment determiner determines whether the external environment is a sunny environment or a non-sunny environment, and
the lighted-state determination threshold is set based on whether the external environment is the sunny environment or the non-sunny environment.
8. The vehicle exterior environment recognition apparatus according to claim 5 , wherein
the environment determiner determines whether the external environment is a sunny environment or a non-sunny environment, and
the lighted-state determination threshold is set based on whether the external environment is the sunny environment or the non-sunny environment.
9. The vehicle exterior environment recognition apparatus according to claim 6 , wherein
the environment determiner determines whether the external environment is a sunny environment or a non-sunny environment, and
the lighted-state determination threshold is set based on whether the external environment is the sunny environment or the non-sunny environment.
10. The vehicle exterior environment recognition apparatus according to claim 1 , wherein the computer further serves as an environment determiner that determines whether the external environment is a sunny environment or a non-sunny environment, based on the image captured by the image-capturing unit,
wherein the lighted-state determination threshold is set based on whether the external environment is the sunny environment or the non-sunny environment, and based on either the second counted number of the second pixels or the second area of the identified vehicle light cover.