| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate positions of left and right driving lanes from a picture imaged by imaging means. <P>SOLUTION: A fixed data memory 9d stores data concerning a standard lane width W1 between driving lanes 21L, 21R and a narrow lane width W2 between inner guide lines 22 of double white lines. A lane candidate point setting unit 9a detects a lane detection point P on the left and right sides of a driving lane on the basis of a picture imaged by imaging means 1, and sets lane candidate points G1-G3 at distances of the lane widths W1, W2, and a distance between the land widths W1 and W2, starting from the lane detection point P on the side of the opposite lane. A curve approximation processing unit 9b sets a virtual line Ls on the left and right sides of the driving lane from a curve approximation formula obtained on the basis of the lane detection point P and the lane candidate points G1-G3. A lane position setting unit 9c obtains the variance of each lane candidate point G1-G3 relative to the left and right virtual lines Ls, estimates a lane type of the virtual line Ls of at least one of the left and right sides on the basis of a lane type corresponding to a virtual line Ls indicating the least variance, and establishes a position of a driving lane on the basis of the estimated lane type. <P>COPYRIGHT: (C)2012,JPO&INPIT |
