CPC G06V 20/58 (2022.01) [B60Q 1/143 (2013.01); G06V 10/25 (2022.01); G06V 20/584 (2022.01); B60Q 2300/13 (2013.01); B60Q 2300/41 (2013.01)] | 13 Claims |
1. A vehicle detecting device, comprising:
a first processor configured to set a plurality of regions of interest having different ranges on image data acquired from an imager that captures an image of a space in front of a host vehicle; and
a second processor configured to determine, for each of the regions of interest, a presence of a front vehicle based on a luminous point present in the region and that executes a determination at different frequencies in the respective regions of interest, wherein
the plurality of regions of interest include at least one of a center region that includes a center of the image data, a side region that is located in a left side and/or a right side of the image data, an oncoming vehicle region that is determined based on a preceding vehicle at a predetermined distance, and a wide-angle region that excludes a determination exempt region located in an upper side of the image data and
a determination frequency is higher in the center region, the oncoming vehicle region, and/or a wide-angle region than in the side region.
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