| 摘要 |
PROBLEM TO BE SOLVED: To provide a show detector that can detect a shadow contained in an image photographing ahead of a vehicle with high accuracy.SOLUTION: The shadow detector comprises: a surround environment photograph part 30 that photographs a surround environment of an own vehicle; an edge detection part 40 that detects an edge of a photographed surround image; and a shadow determination part 50 that recognizes whether there is a level difference in a width direction edge of a travelling road of the own vehicle on the basis of level difference information stored in a map data storage part 70, further determines a shadow edge on the basis of continuity of an edge detected by the edge detection part 40 at the level difference, and then performs a shadow determination on the basis of the shadow edge. By such the configuration, a shadow contained in the photographed image can be recognized quite accurately and accuracy of distinguishing the shadow from a white line can be improved. |
