| 摘要 |
<P>PROBLEM TO BE SOLVED: To use information on road markings other than lane boundary lines obtained from a captured image to improve the accuracy of detecting a lane boundary. <P>SOLUTION: When a composite line composed of a lane boundary line and an auxiliary line is detected, a lane boundary detection apparatus 10 sets, as a reference line, the most reliable one among candidate position parameters (parameters for defining a straight line obtained by approximating the edge position closer to the center of the lane) obtained from candidate lane boundary lines that include all the lane boundary line and the auxiliary line constituting the composite line. The lane boundary detection apparatus 10 calculates a lateral position D3 of the reference line and sets a position D2+D3, as a lane boundary parameter, obtained by shifting the lateral position D3 of the reference line to the lane boundary line side by the D2 which is a space (line spacing) between the lane boundary line and the auxiliary line, when the auxiliary line is set as the reference line. <P>COPYRIGHT: (C)2012,JPO&INPIT |
