External environment recognition device
An external environment recognition device includes: a road surface height estimation unit that estimates a height of a road surface on which an object is positioned in an image captured by a monocular camera installed in a vehicle; a road surface height reliability estimation unit that calculates reliability of a height of the road surface estimated by the road surface height estimation unit; and an object distance information estimation unit that estimates a distance to the object in accordance with the reliability calculated by the road surface height reliability estimation unit, in which the road surface height reliability estimation unit calculates the reliability based on a determination result as to whether the road surface is same as a grounding contact surface of the vehicle.
1 . An external environment recognition device, comprising:
a road surface height estimation unit that estimates a height of a road surface on which an object is positioned in an image captured by a monocular camera installed in a vehicle;
a road surface height reliability estimation unit that calculates reliability of a height of the road surface estimated by the road surface height estimation unit; and
an object distance information estimation unit that estimates a distance to the object in accordance with the reliability calculated by the road surface height reliability estimation unit, wherein the road surface height reliability estimation unit calculates the reliability based on a determination result as to whether the road surface is same as a grounding contact surface of the vehicle.
2 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit enhances reliability of a height of the road surface when the road surface is same as a grounding contact surface of the vehicle.
3 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit divides the captured image into a road region attribute and a non-road region attribute, and enhances reliability of a height of the road surface when an attribute of the road surface on which the object is positioned is the road region attribute.
4 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit determines whether there is a road surface marking on the road surface on which the object of the captured image is positioned, and enhances reliability of a height of the road surface when there is the road surface marking.
5 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit collates whether the captured image includes the captured image of a traveling road surface on which the vehicle has traveled in past, and when the captured image in past is included, calculates reliability of a height of the road surface with reference to the captured image in the past.
6 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit determines whether another object is present on a traveling road surface of the vehicle in the captured image, and when another object is present, calculates reliability of a height of the road surface to be high.
7 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit determines a type of measurement in which a height of the road surface is obtained by the road surface height estimation unit, and calculates reliability of a height of the road surface in accordance with the type of the measurement.
8 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit determines whether a grounding contact point between the vehicle and a traveling road surface is included in the captured image, divides the captured image into a road region attribute and a non-road region attribute, determines an attribute of the road surface on which the object is positioned, determines whether there is a road surface marking on the road surface on which the object is positioned in the captured image, and calculates the reliability based on at least one determination result of these determinations.
9 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit determines whether the captured image includes the captured image of a traveling road surface on which the vehicle has traveled in past, determines whether another object is present on the traveling road surface of the vehicle in the captured image, and calculates the reliability based on at least one determination result of these determinations.
10 . The external environment recognition device according to claim 1 , wherein the road surface height reliability estimation unit determines a type of measurement in which a height of the road surface is obtained by the road surface height estimation unit, and in a case where accuracy of the measurement is high, uses a height of the road surface based on a captured image of a measurement device with high accuracy of the measurement as a height of the road surface based on an image captured by the monocular camera.