| 摘要 |
PROBLEM TO BE SOLVED: To provide a boundary line detection device capable of suitably detecting a boundary line. SOLUTION: An image processing ECU acquires data of a road surface image (S10), and extracts an edge point based on the acquired road surface image (S12). Then, the ECU removes edge points vertically continued from the edge point extracted in the step S12 as noise (S14), and extracts an edge line by Hough transform (S16). Then, the ECU calculates a boundary line position based on the extracted edge line (S18), and determines deviation from the boundary line (S20). Here, the ECU calculates a time required up to the deviation of a vehicle from the boundary line from a traveling locus of the vehicle which is predicted based on a yaw rate and a vehicle speed and the position of the boundary line which is calculated in the step S18. When the calculated time is a predetermined threshold or longer, no deviation is determined (S20: NO), and when the calculated time is shorter than the threshold, a risk of deviation is determined (S20: YES) and a control signal of a buzzer request is outputted (S22). COPYRIGHT: (C)2011,JPO&INPIT
|
