| 摘要 |
In right and left white road line detection regions on a image, a stereo image recognition device of a white road line recognition device for a vehicle detects a pair of a white road line starting point and a white road line ending point for each of retrieval lines set in the horizontal direction based on the change in the luminance on the retrieval lines, calculates a midpoint Pm between each pair of the white road line starting point and white road line ending point, selects a point group with a smaller dispersion between the point group consisting of the white road line starting points and the point group consisting of midpoints based on a predetermined condition, and calculates a white road line based on the selected point group.
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