| 摘要 |
The image processing ECU periodically acquires road-surface images and extracts edge points in the acquired road-surface image. Subsequently, the ECU determines the operating mode and extracts the edge line when the operating mode is either a dotted mode or a frame-accumulation mode. The edge points are transformed e.g. Hough transform, to extract an edge line that most frequently passes through the edge points. The extracted edge line denotes the lane marking. The ECU outputs a signal to activate a buzzer alert when determining the vehicle may depart from the lane.
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