To improve detection accuracy of a recognition object while suppressing a processing load.
The recognition object detecting apparatus obtains an image data representing a taken image in front of a vehicle which is taken by an on-vehicle camera including an imaging unit having a high dynamic range characteristic (S11), extracts an image to be processed from the obtained taken image (S12), binarizes the image to be processed by using four types of threshold values (S13A, S13B, S13C, S13D), and executes a recognition process for detecting a recognition objects on the basis of four types of binary images, respectively, which are generated through the binarization process (S14A, S14B, S14C, S14D). From the result of the recognition process, a lighting state of headlights is set to low beam (S15:YES, S16) when the recognition object is determined to be detected from one of the binary images, and to high beam (S15:NO, S17) when no recognition object is determined to be detected from any of the binary images.
KIMURA TAKAYUKI
SHIODA KENTARO
SHIRAI TAKAMASA
| JP2005157670A | 2005-06-16 | |||
| JPH05176233A | 1993-07-13 | |||
| JP2005092857A | 2005-04-07 | |||
| JP2010020483A | 2010-01-28 | |||
| JPH08166221A | 1996-06-25 | |||
| JP2008040615A | 2008-02-21 | |||
| JP2010141583A | 2010-06-24 |