| 主权项 |
1. A lane detection device comprising:
an image capturing device that is installed in a vehicle and captures a forward view image of a road surface from the vehicle, the image having a vertical direction along a traveling direction of the vehicle; and a lane mark detection unit that performs binarization of the forward view image captured by the image capturing device, using a binarization threshold, and detects lane marks in the forward view image of the road surface, wherein the lane mark detection unit configured to,
divide the captured forward view image into a plurality of blocks adjacent to one another in the vertical direction and each extending in a horizontal direction,detect a brightness of each of the plurality of blocks and determine whether each of the plurality of blocks is a bright block or a dark block, the bright block having a brightness that is higher than a brightness of the dark block, andchange the binarization threshold depending on whether the block is the bright block or the dark block, thereby applying the binarization threshold that is different between the bright block and the dark block in the binarization of the captured, forward view image. |
