Patent Document ID: 9064418
Application ID: 13575173
Patent Status: 1

Claim One:
1. A vehicle-mounted environment recognition apparatus comprising: a pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate; an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object; a tracking unit which tracks the object on the basis of an inputted predicted position of the object; and an area setting unit which divides the acquired image into a first area including a vanishing point and an area different from the first area to set a plurality of areas.