| 摘要 |
<P>PROBLEM TO BE SOLVED: To reliably detect a white line edge even if the white line has a scrape or a stain or if dirt, a dead leaf or the like is on the white line. <P>SOLUTION: A method includes: detecting a white line by Hough transform from an overhead view image; horizontally scanning inside a window having a constant width set on the white line in the vertical direction; generating a vertical data sequence by setting an edge existing-point as 1 and an edge non-existing-point as 0, inverting data in an upper area relative to each element of the data sequence; and specifying, as an back edge of the white line, a position where the total value of the number of elements set as 1 is the maximum; also, inverting data in the lower area relative to each element of the data sequence; and specifying, as a front edge of the white line, a position where the total value of the number of elements set as 1 is maximum. Further, a parking-support device comprises imaging means, distortion correction means, image conversion means, display means, and display switching control means for detecting a white line edge by a white line edge detection method, and switching display images on the display means between a distortion corrected image or an overhead view image based on the distance between the white line edge of a parking frame and a subject vehicle. <P>COPYRIGHT: (C)2012,JPO&INPIT |
