Abstract: A vehicle exterior environment recognition apparatus includes a stereo speed derivation unit, a monocular speed derivation unit, a predicted speed derivation unit, a mixture ratio derivation unit, and an object speed derivation unit. The stereo speed derivation unit derives a stereo speed indicating a speed of a three-dimensional object extracted from a distance image derived from luminance images of two image-capturing units. The monocular speed derivation unit derives a monocular speed indicating a speed of the three-dimensional object extracted from the luminance image of one of the image-capturing units. The predicted speed derivation unit derives a predicted speed based on a past speed of the three-dimensional object. The mixture ratio derivation unit derives a mixture ratio of the stereo, monocular, and predicted speeds. The object speed derivation unit mixes the stereo, monocular, and predicted speeds at the mixture ratio, to derive an object speed.

Abstract: A vehicle external environment recognition apparatus includes a light source extraction processor, a light source pair identification processor, a degree of reliability derivation processor, a light source pair re-identification processor, and a vehicle identification processor. The light source pair identification processor identifies a first pair of light sources based on positional relation of extracted light sources. The degree of reliability derivation processor derives a degree of vehicle reliability of the first pair of light sources. The degree of vehicle reliability indicates how reliably the first pair of light sources is regarded as belonging to the identical vehicle.

Abstract: A vehicle external environment recognition apparatus includes a light source extraction processor, a light source pair identification processor, a degree of reliability derivation processor, a light source pair re-identification processor, and a vehicle identification processor. The light source pair identification processor identifies a first pair of light sources based on positional relation of extracted light sources. The degree of reliability derivation processor derives a degree of vehicle reliability of the first pair of light sources. The degree of vehicle reliability indicates how reliably the first pair of light sources is regarded as belonging to the identical vehicle.

Abstract: A vehicle exterior environment recognition apparatus includes a stereo speed derivation unit, a monocular speed derivation unit, a predicted speed derivation unit, a mixture ratio derivation unit, and an object speed derivation unit. The stereo speed derivation unit derives a stereo speed indicating a speed of a three-dimensional object extracted from a distance image derived from luminance images of two image-capturing units. The monocular speed derivation unit derives a monocular speed indicating a speed of the three-dimensional object extracted from the luminance image of one of the image-capturing units. The predicted speed derivation unit derives a predicted speed based on a past speed of the three-dimensional object. The mixture ratio derivation unit derives a mixture ratio of the stereo, monocular, and predicted speeds. The object speed derivation unit mixes the stereo, monocular, and predicted speeds at the mixture ratio, to derive an object speed.