US Patent 11756325 Vehicle exterior environment recognition apparatus

A vehicle exterior environment recognition apparatus includes a three-dimensional object region identification unit, a bicycle determination unit, and a bicycle identification unit. The three-dimensional object region identification unit identifies a three-dimensional object region including a three-dimensional object, in an image. The bicycle determination unit divides the three-dimensional object region into a plurality of divisions, to determine bicycle-likeliness of the three-dimensional object on the basis of a state of occupation of each of the plurality of the divisions by the three-dimensional object. The bicycle identification unit identifies the three-dimensional object as a bicycle on the basis of the bicycle-likeliness.