| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a road shape detector for vehicle, detecting a gradient of a cruising lane even when only one image part of left and right road marking lines is extracted. Ž<P>SOLUTION: The road shape detector for vehicle is provided with: a road marking line extraction means 12 for extracting an image part LR of a right side road marking line and an image part LL of a left side road marking line for marking a cruising lane of a self-vehicle from an image in front of the self-vehicle picked up by a camera; and a road shape detection means 13 for calculating tangent lines TR, TL at parts IR, IL within predetermined ranges (Y<SB>13</SB>-Y<SB>11</SB>) from a part Y<SB>13</SB>where a position on a corresponding real space becomes the closest to the self-vehicle are calculated to the image parts LR, LL of the road marking lines, and detecting the gradient of the cruising lane of the self-vehicle based on deviation ΔYR, ΔYL between the image parts LR, LL of the road marking lines and their tangent lines TR, TL in the Y axial direction equivalent to the traveling direction of the self-vehicle. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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