| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle-mounted white line recognition device capable of properly recognizing white lines even in a driving environment where white lines thinner than usual appear.SOLUTION: Difference between a horizontal position coordinate of a white line start point and a horizontal position coordinate of a while line end point is computed as a white line candidate point width W (S201), and is compared with a current white line width threshold value WD (S202). If the result shows W>WD, the white line width threshold value WD is kept at an initial value WD0 (S203). In the case of W≤WD, a percentage R of the number of white line candidate points showing smaller widths than the white line width threshold value WD is checked as to whether it is no less than a set value H or not (S204), and in the case of R<H, the current white line width threshold value WD is set to be a first threshold value WD1 (WD1<WD0) (S205) and, in the case of R≥H, the current white line width threshold value WD is set to be a second threshold value WD2 (WD2<WD1) (S206). This allows white lines to be properly recognized even in a driving environment where white lines thinner than usual appear. |
