| 摘要 |
<P>PROBLEM TO BE SOLVED: To detect road shapes, such as slopes and irregularities of a road, on the basis of an image of a single camera without using a plurality of cameras. <P>SOLUTION: A travel dividing line is extracted from an image photographed by a single mounted on vehicle camera. Portions, ahead and behind a curved point in the extracted travel dividing line, are designated as lines A, B. On the basis of the angle formed by the lines A, B, shapes, such as slopes and irregularities of a road surface, are determined. The equipment can be thereby simplified, as compared to the case in which a plurality of cameras are required, allowing cost reduction in the equipment. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
