US 11,854,279 B2
Vehicle exterior environment recognition apparatus
Naoki Takahashi, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Apr. 14, 2021, as Appl. No. 17/230,614.
Claims priority of application No. 2020-090479 (JP), filed on May 25, 2020; and application No. 2021-024338 (JP), filed on Feb. 18, 2021.
Prior Publication US 2021/0366141 A1, Nov. 25, 2021
Int. Cl. G06V 20/64 (2022.01); G06T 7/593 (2017.01); H04N 13/239 (2018.01); B60R 1/00 (2022.01); G06V 20/56 (2022.01); G06V 10/56 (2022.01); G06V 10/75 (2022.01); H04N 13/00 (2018.01)
CPC G06V 20/64 (2022.01) [B60R 1/00 (2013.01); G06T 7/593 (2017.01); G06V 10/56 (2022.01); G06V 10/751 (2022.01); G06V 20/56 (2022.01); H04N 13/239 (2018.05); B60R 2300/105 (2013.01); B60R 2300/20 (2013.01); B60R 2300/80 (2013.01); G06T 2207/30248 (2013.01); H04N 2013/0081 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A vehicle exterior environment recognition apparatus comprising:
a monocular distance calculator configured to calculate a monocular distance on a basis of a luminance image generated by an imaging unit, the monocular distance corresponding to a relative distance of a three-dimensional object;
a relaxation distance calculator configured to calculate a relaxation distance on a basis of a degree of image matching between two luminance images generated by two imaging units, the relaxation distance corresponding to the relative distance of the three-dimensional object, the degree of image matching based on which the relaxation distance is calculated being determined using a threshold more lenient than another threshold used when the degree of image matching is determined to calculate a stereo distance, the stereo distance corresponding to the relative distance of the three-dimensional object; and
an updated distance calculator configured to calculate an updated distance by mixing the monocular distance and the relaxation distance at a predetermined ratio, the updated distance corresponding to an updated one of the relative distance of the three-dimensional object.