Patent ID: 8625850

Claim:
An environment recognition device comprising: a position information obtaining unit that obtains position information of a target portion in a detection area of a luminance image, including a relative distance from a subject vehicle; a grouping unit that groups target portions, of which positions differences in a vertical direction and a parallel direction with respect to a base line which corresponds to advancing direction of the subject vehicle fall within a first distance, into a target object; a candidate determining unit that determines that the target object is a candidate of a wall, when the target portions included in the target object form a tilt surface tilting at a predetermined angle or more against a vertical plane with respect to a base plane which corresponds to the advancing direction of the subject vehicle; and a wall determining unit that determines that the wall candidates, of which positions differences in the vertical direction and the parallel direction with respect to a base line which corresponds to the advancing direction of the subject vehicle fall within a second predetermined distance longer than the first predetermined distance, are a wall.