Patent ID: 11958483
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 8:
9. A vehicle external environment recognition apparatus to be applied to a vehicle, the vehicle external environment recognition apparatus, comprising circuitry programmed to
calculate three-dimensional positions of respective blocks in a captured image,
group the blocks to put any two or more of the blocks that have the three-dimensional positions differing from each other within a predetermined range in a group and thereby determine three-dimensional objects,
identify a preceding vehicle, which is moving, relative to the vehicle and a sidewall on a basis of the three-dimensional objects, estimate a future position of the preceding vehicle to track the preceding vehicle,
determine whether or not the preceding vehicle identified corresponds to a portion of the sidewall, and
based on determining that the preceding vehicle corresponds to the portion of the sidewall, stop tracking the preceding vehicle, which is moving.