| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology capable of detecting a road end correctly by suppressing influence of a virtual image.SOLUTION: In a road end detection system: a road end line which is a line corresponding to an end in the width direction of the road in an image photographed by a camera is detected; a candidate line which becomes a candidate for the road end line in the image is recognized; an inside region which is a region on the center side in the width direction of the road from the candidate line, and an outside region which is a region opposite from the center in the width direction of the road from the candidate line are set in the image; vertical edges which are vertical to the road surface of the road are detected in the inside region and in the outside region respectively; and based on the detection result of the vertical edges in the inside region and the detection result of the vertical edges in the outside region, it is determined whether or not the candidate line is the road end line. Vertical edge detection means detects penetrating edges penetrating the candidate line out of the edges vertical to the road surface of the road, and excludes the portion lower than the candidate line from the vertical edges in the image out of the penetrating edges. |
