US 11,842,552 B2
Vehicle exterior environment recognition apparatus
Minoru Kuraoka, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jan. 7, 2021, as Appl. No. 17/143,748.
Claims priority of application No. 2020-039047 (JP), filed on Mar. 6, 2020; and application No. 2020-135392 (JP), filed on Aug. 7, 2020.
Prior Publication US 2021/0279487 A1, Sep. 9, 2021
Int. Cl. G06V 20/64 (2022.01); G06V 20/58 (2022.01); G06V 20/59 (2022.01); G06V 10/75 (2022.01)
CPC G06V 20/64 (2022.01) [G06V 10/751 (2022.01); G06V 20/58 (2022.01); G06V 20/584 (2022.01); G06V 20/59 (2022.01); G06V 20/647 (2022.01)] 13 Claims
OG exemplary drawing
 
1. A vehicle exterior environment recognition apparatus comprising:
a first width derivation unit configured to derive a first width of a first object on a basis of a luminance image, the luminance image being configured to identify luminance of a target of imaging;
a second width derivation unit configured to derive a second width of a second object on a basis of a distance image, the distance image being different from the luminance image and configured to identify a distance to the target of imaging;
a degree-of-overlap derivation unit configured to obtain an overlap width with which the first width and the second width overlap in a horizontal direction, and set, as a degree of overlap, whichever is greater out of a value obtained by dividing the overlap width by the first width and a value obtained by dividing the overlap width by the second width; and
an object determination unit configured to determine that the first object and the second object are an identical object, when the degree of overlap is greater than a threshold,
wherein the object determination unit is further configured to lower the threshold for the degree of overlap with which the object determination unit has determined that the first object and the second object are the identical object.