| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a lane detection apparatus which is capable of excellently detecting an appropriate lane from compound lanes. <P>SOLUTION: A camera 30 captures a road surface image in three primary colors R, G and B of light. An image processing ECU 32 (lane detection apparatus) acquires data of the road surface image from the camera 30 (S1), and sets an inspection line 42 that is an aggregate of pixels of one line in the road surface image 40 (S3). From among color information items extracted from the road surface image, color information is selected which has a position indicating contrast equal to or more than a predetermined threshold value closest to a reference line 46 and indicates the maximum contrast at that position at a front left side of a vehicle (S4). On the basis of that color information, conversion into a parameter of a luminance value is performed (S5). Processing is similarly performed on a right side as well (S6 and S7). Edge points are extracted from the luminance value parameter converted in S5 and S7 (S8), an edge line is extracted on the basis of the edge points (S11), and a lane position is calculated from the edge line (S12). <P>COPYRIGHT: (C)2012,JPO&INPIT |
