Abstract: A vehicle external environment recognition apparatus to be applied to a vehicle includes a position calculation processor, a three-dimensional object determination processor, an identification object identifying processor, and a vehicle tracking processor. The position calculation processor calculates three-dimensional positions of respective blocks in a captured image. The three-dimensional object determination processor groups the blocks to put any two or more of the blocks that have the three-dimensional positions differing from each other within a predetermined range in a group and thereby determines three-dimensional objects. The identification object identifying processor identifies a preceding vehicle relative to the vehicle and a sidewall on the basis of the three-dimensional objects. The vehicle tracking processor estimates a future position of the preceding vehicle to track the preceding vehicle.

Abstract: A vehicle external environment recognition apparatus to be applied to a vehicle includes one or more processors and one or more memories configured to be coupled to the one or more processors. The one or more processors are configured to: calculate three-dimensional positions of respective blocks in a captured image; group the blocks to put any two or more of the blocks that have the three-dimensional positions differing from each other within a predetermined range in a group and thereby determine three-dimensional objects; identify each of a preceding vehicle of the vehicle and a sidewall on the basis of the determined three-dimensional objects; and track the preceding vehicle. The one or more processors are configured to determine, upon tracking the preceding vehicle, whether the preceding vehicle to track is to be hidden by the sidewall on the basis of a border line between a blind region and a viewable region.

Abstract: A vehicle exterior environment recognition apparatus includes a travel path derivation unit, a speed derivation unit, and a follow-up controller. The travel path derivation unit estimates an own-vehicle travel path and derives a target-vehicle travel path that contains a point on a target vehicle and forms a parallel curve to the own-vehicle travel path. The speed derivation unit derives a target-vehicle speed vector. The follow-up controller makes a follow-up control based on the target-vehicle speed vector on the condition that an angle formed by the target-vehicle speed vector and a tangential line to the target-vehicle travel path at the point on the target vehicle falls within a predetermined angular range, and makes the follow-up control based on a tangential speed component of the target-vehicle speed vector on the condition that the angle falls out of the angular range.

Abstract: A vehicle external environment recognition apparatus to be applied to a vehicle includes a road surface determination processor and a three-dimensional object determination processor. The road surface determination processor determines a road surface region that corresponds to a road surface in an image, plots representative distances of respective horizontal lines in the road surface region at respective vertical positions of the horizontal lines, and generates first and second road surface models. The second road surface model represents a farther portion of the road surface region from the vehicle than the first road surface model and differs in a gradient from the first road surface model. On a condition that an angle formed by the first and second road surface models is greater than a predetermined angle, the three-dimensional object determination processor cancels the second road surface model and extends far the first road surface model.

Abstract: A vehicle external environment recognition apparatus to be applied to a vehicle includes a position calculation processor, a three-dimensional object determination processor, an identification object identifying processor, and a vehicle tracking processor. The position calculation processor calculates three-dimensional positions of respective blocks in a captured image. The three-dimensional object determination processor groups the blocks to put any two or more of the blocks that have the three-dimensional positions differing from each other within a predetermined range in a group and thereby determines three-dimensional objects. The identification object identifying processor identifies a preceding vehicle relative to the vehicle and a sidewall on the basis of the three-dimensional objects. The vehicle tracking processor estimates a future position of the preceding vehicle to track the preceding vehicle.

Abstract: A vehicle external environment recognition apparatus to be applied to a vehicle includes a road surface determination processor and a three-dimensional object determination processor. The road surface determination processor determines a road surface region that corresponds to a road surface in an image, plots representative distances of respective horizontal lines in the road surface region at respective vertical positions of the horizontal lines, and generates first and second road surface models. The second road surface model represents a farther portion of the road surface region from the vehicle than the first road surface model and differs in a gradient from the first road surface model. On a condition that an angle formed by the first and second road surface models is greater than a predetermined angle, the three-dimensional object determination processor cancels the second road surface model and extends far the first road surface model.

Abstract: A vehicle external environment recognition apparatus to be applied to a vehicle includes one or more processors and one or more memories configured to be coupled to the one or more processors. The one or more processors are configured to: calculate three-dimensional positions of respective blocks in a captured image; group the blocks to put any two or more of the blocks that have the three-dimensional positions differing from each other within a predetermined range in a group and thereby determine three-dimensional objects; identify each of a preceding vehicle of the vehicle and a sidewall on the basis of the determined three-dimensional objects; and track the preceding vehicle. The one or more processors are configured to determine, upon tracking the preceding vehicle, whether the preceding vehicle to track is to be hidden by the sidewall on the basis of a border line between a blind region and a viewable region.

Abstract: A vehicle exterior environment recognition apparatus includes a position derivation unit, a grouping unit, and a speed derivation unit. The position derivation unit is configured to derive three-dimensional positions of respective blocks from an image received from an imaging device. The grouping unit is configured to group the respective blocks and to identify a three-dimensional object. The speed derivation unit is configured to make a determination as to whether a side of the three-dimensional object satisfies a determination condition that the side of the three-dimensional object is included in an end area situated on an end side of the image in a horizontal direction. The speed derivation unit is configured to derive the speed of the three-dimensional object in accordance with an end of the side of the three-dimensional object in a depth direction when the determination is made that the side of the three-dimensional object satisfies the determination condition.

Abstract: A vehicle exterior environment recognition apparatus includes a position deriving unit, a grouping unit, and a pairing unit. The position deriving unit derives three-dimensional positions of respective blocks from an image received from an imaging unit. The grouping unit groups the respective blocks and identifies potential three-dimensional objects from the grouped blocks. The pairing unit projects the potential three-dimensional objects on a horizontal plane, classifies the potential three-dimensional objects into a rear face and a side face on a basis of angles of the potential three-dimensional objects on the horizontal plane with respect to a depth direction, determines whether a relation between the side face and the rear face satisfies a predetermined condition, and pairs the side face with the rear face into a single three-dimensional object when the determination is made that the relation between the side face and the rear face satisfies the predetermined condition.

Abstract: A vehicle exterior environment recognition apparatus includes a travel path derivation unit, a speed derivation unit, and a follow-up controller. The travel path derivation unit estimates an own-vehicle travel path and derives a target-vehicle travel path that contains a point on a target vehicle and forms a parallel curve to the own-vehicle travel path. The speed derivation unit derives a target-vehicle speed vector. The follow-up controller makes a follow-up control based on the target-vehicle speed vector on the condition that an angle formed by the target-vehicle speed vector and a tangential line to the target-vehicle travel path at the point on the target vehicle falls within a predetermined angular range, and makes the follow-up control based on a tangential speed component of the target-vehicle speed vector on the condition that the angle falls out of the angular range.

Abstract: A vehicle exterior environment recognition apparatus includes first and luminance-image acquiring units, first and second distance-image generating units, and a composite-image generating unit. The first luminance-image acquiring unit acquires first luminance images captured by image-capturing units that are disposed at positions different from each other at a first exposure time. The second luminance-image acquiring unit acquires second luminance images captured by the image-capturing units at a second exposure time shorter than the first exposure time. The first distance-image generating unit generates a first distance image through pattern matching of the first luminance images. The second distance-image generating unit generates a second distance image through pattern matching of the second luminance images.

Abstract: A vehicle exterior environment recognition apparatus includes a road surface identifying unit, a three-dimensional object identifying unit, a road surface determining unit, and a three-dimensional object composition unit. The road surface identifying unit identifies a road surface in an image. The three-dimensional object identifying unit identifies three-dimensional objects each having a height extending vertically upward from the identified road surface. When the identified three-dimensional objects are separated and are located at respective positions distant from an own vehicle by a same relative distance, the road surface determining unit performs a determination of whether a three-dimensional-object-intervening region between the identified three-dimensional objects has a correspondence to the road surface.

Abstract: A vehicle exterior environment recognition apparatus includes a first road surface identifier and a second road surface identifier. The first road surface identifier identifies a first road surface region of a road surface in an image and generates a first road surface model by plotting, at respective vertical positions, representative distances of horizontal arrays of blocks in the first road surface region. The second road surface identifier identifies a second road surface region in the image and generates a second road surface model by plotting, at respective vertical positions, representative distances of horizontal arrays of blocks in the second road surface region. The second road surface region is a region of the road surface that is farther from a vehicle than the first road surface region is, and has a horizontal length greater than a horizontal length of the first road surface region in a three-dimensional space.

Abstract: A vehicle exterior environment recognition apparatus includes first and second luminance image acquiring units, first and second distance image generators, a region identifier, and a composite image generator. The region identifier is configured to identify a light source region in which a light source is present, on the basis of any of first luminance images acquired by the first luminance image acquiring unit at a first exposure time and any of second luminance images acquired by the second luminance image acquiring unit at a second exposure time shorter than the first exposure time. The composite image generator is configured to combine an image corresponding to the light source region in a second distance image generated by the second distance image generator and an image corresponding to a region excluding the light source region in a first distance image generated by the first distance image generator, and generate a composite image.

Abstract: A vehicle exterior environment recognition apparatus includes a position derivation unit, a grouping unit, and a speed derivation unit. The position derivation unit is configured to derive three-dimensional positions of respective blocks from an image received from an imaging device. The grouping unit is configured to group the respective blocks and to identify a three-dimensional object. The speed derivation unit is configured to make a determination as to whether a side of the three-dimensional object satisfies a determination condition that the side of the three-dimensional object is included in an end area situated on an end side of the image in a horizontal direction. The speed derivation unit is configured to derive the speed of the three-dimensional object in accordance with an end of the side of the three-dimensional object in a depth direction when the determination is made that the side of the three-dimensional object satisfies the determination condition.

Abstract: A vehicle exterior environment recognition apparatus includes a position deriving unit, a grouping unit, and a pairing unit. The position deriving unit derives three-dimensional positions of respective blocks from an image received from an imaging unit. The grouping unit groups the respective blocks and identifies potential three-dimensional objects from the grouped blocks. The pairing unit projects the potential three-dimensional objects on a horizontal plane, classifies the potential three-dimensional objects into a rear face and a side face on a basis of angles of the potential three-dimensional objects on the horizontal plane with respect to a depth direction, determines whether a relation between the side face and the rear face satisfies a predetermined condition, and pairs the side face with the rear face into a single three-dimensional object when the determination is made that the relation between the side face and the rear face satisfies the predetermined condition.

Abstract: A vehicle exterior environment recognition apparatus includes first and luminance-image acquiring units, first and second distance-image generating units, and a composite-image generating unit. The first luminance-image acquiring unit acquires first luminance images captured by image-capturing units that are disposed at positions different from each other at a first exposure time. The second luminance-image acquiring unit acquires second luminance images captured by the image-capturing units at a second exposure time shorter than the first exposure time. The first distance-image generating unit generates a first distance image through pattern matching of the first luminance images. The second distance-image generating unit generates a second distance image through pattern matching of the second luminance images.

Abstract: A vehicle exterior environment recognition apparatus includes a first road surface identifier and a second road surface identifier. The first road surface identifier identifies a first road surface region of a road surface in an image and generates a first road surface model by plotting, at respective vertical positions, representative distances of horizontal arrays of blocks in the first road surface region. The second road surface identifier identifies a second road surface region in the image and generates a second road surface model by plotting, at respective vertical positions, representative distances of horizontal arrays of blocks in the second road surface region. The second road surface region is a region of the road surface that is farther from a vehicle than the first road surface region is, and has a horizontal length greater than a horizontal length of the first road surface region in a three-dimensional space.

Abstract: A vehicle exterior environment recognition apparatus includes a road surface identifying unit, a three-dimensional object identifying unit, a road surface determining unit, and a three-dimensional object composition unit. The road surface identifying unit identifies a road surface in an image. The three-dimensional object identifying unit identifies three-dimensional objects each having a height extending vertically upward from the identified road surface. When the identified three-dimensional objects are separated and are located at respective positions distant from an own vehicle by a same relative distance, the road surface determining unit performs a determination of whether a three-dimensional-object-intervening region between the identified three-dimensional objects has a correspondence to the road surface.