| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a white line recognizing device for a vehicle capable of accurately obtaining an approximate white line while reducing calculation time. <P>SOLUTION: When identifying each coefficient of a temporary approximate white line approximating to a schematic shape of a white line in a real space, a stereo image recognizing device 4 identifies a coefficient of a low-order side based on an approximate white line having been recognized in a previous frame, calculates a plurality of patterns of combinations of a plurality of coefficients of a high-order side having not yet been identified by using coordinates of a white line candidate point Pd and the coefficient of the low-order side for each the white line candidate point Pd projected into the real space and further identifies a combination of the plurality of coefficients of the high-order side that has been most frequently calculated as a coefficient of the high-order side of a temporary approximate white line Lt. Further, the stereo image recognizing device 4 selects the white line candidate points Pd existing in a candidate point selection region As as final white line candidate points P and calculates an approximate white line L based on the white line candidate points P having been selected while setting the candidate point selection region As based on the temporary approximate white line Lt. <P>COPYRIGHT: (C)2012,JPO&INPIT |
