| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect a boundary of a traveling lane even when there is a projection to a road surface, in a boundary detector. <P>SOLUTION: In a lane boundary detector, a plurality of edge components are extracted from a picked-up image obtained by imaging the surroundings of a present vehicle, and candidates of a curve (including a straight line) to be a boundary of a traveling area are extracted as boundary candidates on the basis of the arrangement of the plurality of edge components. Then, an angle formed by a tangential line at a prescribed part of each of the extracted boundary candidates and a vertical line in the picked-up image is computed, a probability in the boundary candidates for which the formed angle is smaller than an angle reference value is set lower (S380), and the most probable boundary candidate among the boundary candidates is set as a boundary of the traveling area. In the configuration, since the probability of the curve to be the boundary of the traveling area is made relatively high to be easily set as the boundary of the traveling area, the boundary of the traveling lane is accurately detected even when there is a projection on a road surface in the picked-up image. <P>COPYRIGHT: (C)2012,JPO&INPIT |
