| 摘要 |
PROBLEM TO BE SOLVED: To provide a device and a method for detecting traveling path boundary which detects a boundary of traveling paths irrespective of presence of a white line on the traveling paths. SOLUTION: The device is provided with an image acquisition means 101 for acquiring an image of the traveling path on which a vehicle travels, a preprocessing means 102 for removing noise in an image signal showing the acquired image of the traveling path, an inclination calculation means 103 for calculating inclination information indicating contrast difference by a position in the traveling path image after removing the noise, a past traveling path boundary point sequence acquisition means 104 for acquiring a past traveling path boundary point sequence indicating the boundary between the traveling paths calculated based on the traveling path image acquired at a certain point of time in the past from the outside and a candidate point sequence calculation means 105 for two-dimensionally arranging retrieval points in a predetermined area including the acquired past traveling path boundary sequence and calculating a traveling path boundary candidate point sequence in which a value of a function on which the inclination information of the traveling path image after removing the noise, mutual arrangement information between the retrieval points and distance information from the past traveling path boundary point sequence to each retrieval point are reflected becomes the maximum among the retrieval points. COPYRIGHT: (C)2005,JPO&NCIPI
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