Patent ID: 11748967

Abstract:
A vehicle exterior environment recognition apparatus includes a stereo speed derivation unit, a monocular speed derivation unit, a predicted speed derivation unit, a mixture ratio derivation unit, and an object speed derivation unit. The stereo speed derivation unit derives a stereo speed indicating a speed of a three-dimensional object extracted from a distance image derived from luminance images of two image-capturing units. The monocular speed derivation unit derives a monocular speed indicating a speed of the three-dimensional object extracted from the luminance image of one of the image-capturing units. The predicted speed derivation unit derives a predicted speed based on a past speed of the three-dimensional object. The mixture ratio derivation unit derives a mixture ratio of the stereo, monocular, and predicted speeds. The object speed derivation unit mixes the stereo, monocular, and predicted speeds at the mixture ratio, to derive an object speed.