Patent ID: 9099005
Filing Date: 2015-08-04
Classification: G06K,G08G

Abstract:
1. An environment recognition device comprising: a data retaining unit that retains ranges of luminance values in association with specific objects; a luminance obtaining unit that obtains luminance values of target portions in a detection area; a specific object provisional determining unit that provisionally determines a specific object corresponding to each of the target portions from the luminance values on the basis of the association retained in the data retaining unit; a target portion grouping unit that groups, as a target object, adjacent target portions provisionally determined to correspond to a same specific object; a position information obtaining unit that obtains a relative distance of each of the target portions from a vehicle on which the environment recognition device is mounted; a representative distance deriving unit that derives a representative distance that is a representative value of relative distances of target portions grouped into the target object; and a target object grouping unit that groups another target portion into the target object, when differences in a horizontal direction and a vertical direction between the another target portion and the target object fall within a first predetermined range and a difference between a relative distance of the another target portion from the vehicle and the representative distance of the target object falls within a second predetermined range, and when a luminance value of the another target portion corresponds to a luminance value of the target object.