| 摘要 |
<P>PROBLEM TO BE SOLVED: To realize a lane recognition device which responds to different kinds of lanes such as a white line and a raised marker at a low cost. <P>SOLUTION: A lane candidate area extraction part 6 extracts a lane candidate area to be a lane candidate from a road image photographed from a vehicle. A two-dimension/three-dimension conversion part 7 converts two-dimensional image coordinates into three-dimensional coordinates to pixels included in the lane candidate area. A histogram creation part 8 projects the three-dimensional coordinates to a coordinate system in a road crossing direction and creates a histogram in the road crossing direction. A lane judgment part 16 determines a lane based on a value of the histogram. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
