Abstract: An image processing device includes a search processor and an image region setting unit. The search processor sets a plurality of processing regions in a frame image, and calculates a vehicle degree with respect to each of the processing regions. The vehicle degree is a degree of vehicle likeliness of an image in a relevant one of the processing regions. The image region setting unit performs, on the basis of corner coordinates of four corners of each of the processing regions, weighted average calculation weighted with the vehicle degree with respect to each of the processing regions, to calculate corner coordinates of four corners of a vehicle image region including an image of a target vehicle, in the frame image.

Abstract: A vehicle exterior environment detection apparatus includes a distance image generator, a vehicle detector, a search processor, a vehicle width calculator, and a predictor. The distance image generator generates a plurality of distance images including a first distance image, a second distance image, and a third distance image, on a basis of a plurality of stereo images including a first stereo image, a second stereo image, and a third stereo image each including a left image and a right image. The predictor predicts a position of a target vehicle in the left image and the right image included in the third stereo image, on a basis of a first vehicle image width calculated on a basis of the first distance image and a second vehicle image width calculated on a basis of a selected image of the second stereo image.

Abstract: A vehicle exterior environment detection apparatus includes an image width calculator, a predicted distance calculator, and a relative distance calculator. The image width calculator calculates a first image width of a target vehicle on the basis of a first image. The predicted distance calculator calculates a first predicted distance to the target vehicle on the basis of the first image width. The relative distance calculator calculates a first reliability of the first image width, and, when the first reliability is higher than a predetermined threshold, calculates a first real width of the target vehicle on the basis of the first image width and the first predicted distance, updates a smoothed real width by performing smoothing processing on the basis of the first real width, and calculates a first distance to the target vehicle on the basis of the smoothed real width and the first image width.

Abstract: An image processing device includes a search processor and an image region setting unit. The search processor sets a plurality of processing regions in a frame image, and calculates a vehicle degree with respect to each of the processing regions. The vehicle degree is a degree of vehicle likeliness of an image in a relevant one of the processing regions. The image region setting unit performs, on the basis of corner coordinates of four corners of each of the processing regions, weighted average calculation weighted with the vehicle degree with respect to each of the processing regions, to calculate corner coordinates of four corners of a vehicle image region including an image of a target vehicle, in the frame image.

Abstract: A vehicle exterior environment detection apparatus includes a distance image generator, a vehicle detector, a search processor, a vehicle width calculator, and a predictor. The distance image generator generates a plurality of distance images including a first distance image, a second distance image, and a third distance image, on a basis of a plurality of stereo images including a first stereo image, a second stereo image, and a third stereo image each including a left image and a right image. The predictor predicts a position of a target vehicle in the left image and the right image included in the third stereo image, on a basis of a first vehicle image width calculated on a basis of the first distance image and a second vehicle image width calculated on a basis of a selected image of the second stereo image.

Abstract: A vehicle exterior environment detection apparatus includes an image width calculator, a predicted distance calculator, and a relative distance calculator. The image width calculator calculates a first image width of a target vehicle on the basis of a first image. The predicted distance calculator calculates a first predicted distance to the target vehicle on the basis of the first image width. The relative distance calculator calculates a first reliability of the first image width, and, when the first reliability is higher than a predetermined threshold, calculates a first real width of the target vehicle on the basis of the first image width and the first predicted distance, updates a smoothed real width by performing smoothing processing on the basis of the first real width, and calculates a first distance to the target vehicle on the basis of the smoothed real width and the first image width.