Patent attributes
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.
