| 摘要 |
PROBLEM TO BE SOLVED: To provide a road white line detection method for accurately detecting a load white line. SOLUTION: An observed value m(j) at time t<SB>i</SB>, initial values of an estimated value X<SB>d</SB>(j) and error covariance C<SB>xd</SB>(j) at time t<SB>i</SB>, and Kalman gain Kd(j) at time t<SB>i</SB>are found out (steps S107, S108, S109). Then, an estimated value Xd(j) at time ti is updated based on the observed value m(j) and the Kalman gain Kd(j) (step S110), and the error covariance Cxd(j) at time ti is updated based on the Kalman gain Kd(j) (step S111). Then, the steps S109 to S111 are repeatedly executed a plurality of times by using the updated estimated value Xd(j) and error covariance Cxd(j) to lead out an estimated value Xd(j) as the positional coordinates of a road white line at time ti (step S112). COPYRIGHT: (C)2009,JPO&INPIT |
