| 摘要 |
PROBLEM TO BE SOLVED: To provide a configuration that makes it possible to successively demarcate a runway range even when an object image breaks locally or cannot be detected in a runway recognition technique that detects images of objects at edges of a runway in an image ahead of a vehicle and recognizes the range of a runway.SOLUTION: A runway recognition device of the present invention recognizes objects in an image, determines their positions, classifies the objects into each object group estimated to be located on a substantially common line along edges of a runway, and recognizes a common line of groups closest to the center of the runway as a roadside line to demarcate the range of the runway. In the process of classifying into object groups, if an object belonging to some group cannot be detected in some area, it is assumed from the positions of objects of another group that the object is present at a position in another area displaced by a distance between the group and another group.SELECTED DRAWING: Figure 5 |
