| 摘要 |
<P>PROBLEM TO BE SOLVED: To maintain precision of detection of a lane boundary line independent of kind of a lane boundary line. <P>SOLUTION: In this method of detecting a lane boundary line, a lane boundary line detecting means mounted on a vehicle images a road surface including the lane boundary line present in front of the vehicle (step S101) and extracts an edge line whose lightness variation is larger than a specified threshold from a picked-up image of the road surface (step S106). A threshold of a lane boundary line specifying parameter representing the relation between extracted edge lines is varied based upon the kind of the lane boundary line (steps S107 to S109), and specific edge lines are selected out of the edge lines based upon the threshold of the lane boundary specifying parameter (step S110) and combined to specify the lane boundary line on the road surface (step S111). <P>COPYRIGHT: (C)2006,JPO&NCIPI |
