| 摘要 |
<P>PROBLEM TO BE SOLVED: To make calculable a precise traveling road model parameter by removing lane marker candidate lines not parallel to the traveling lane where a vehicle is traveling. <P>SOLUTION: Among lane marker candidate lines extending through lane marker candidate points, two lane marker candidate lines having the same vertical coordinate are paired. The pitch angel to ground of a camera, for example, is calculated by use of the information for each pair of lane marker candidate lines or the horizontal coordinate and inclination in the same vertical coordinate, and each pair of lane marker candidate lines in which the calculated pitch angle to ground is far from the maximum pitch angle by a prescribed value or more are removed from lane marker candidate lines for calculating the traveling road model parameter or the lane marker candidate points on these lines. <P>COPYRIGHT: (C)2004,JPO |
