Environment recognition in front of the direction and environment recognition method

摘要

A environment recognition in front of the direction and an environment recognition method is specified. An environment recognition in front of the direction (130) receives a luminance of an aiming portion, which is in a detection range, receives a height of the aiming portion and a specific object is provisionally determined in accordance with the target area or is determined by a specific object in accordance with grouped target objects according to the luminance and the height of the aiming portion on the basis of the allocation (specific - object - table) of a luminance range and a range of heights of a road surface to the specific object, which in a data holding unit (152) is held.