| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To precisely estimate a road shape from a photographed image of a road surface, without being affected by auxiliary lines due to degradation in resolution, even in the case of a multiple-lane road having the auxiliary lines painted in parallel with lane division lines. <P>SOLUTION: A road shape estimating device includes: an edge detecting section 911 for detecting a plurality of edge lines from a photographed image of a road surface of a road to generate composite edge lines by combining one or more edge lines out of the detected edge lines; a road shape estimating section 912 for obtaining road shape parameters of the road, including a crosswise offset of a camera having photographed the road surface, and a road width, on the basis of information on the inner side composite edge lines that are closest to a center of the road; a correction amount estimating section 914 for obtaining a correction amount on the basis of a distance between the inner side composite edge lines and the outer side composite edge lines positioned on the outer side of the inner side composite edge lines, and storing the correction amount in a storage section 915; and a correcting section 913 for correcting the crosswise offset and the road width by employing the correction amount. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
