| 摘要 |
<P>PROBLEM TO BE SOLVED: To recognize an actual traffic lane even when a curvature change is large like an interchange, while maintaining recognition of a broken white line. <P>SOLUTION: Based on a camera 14 picking up an image in front of one's own vehicle 12 and an image picked up by the camera 14, a white line on a road is detected, reliability of the detected white line is detected, and a fluctuation width between the detected preceding white line and this white line is calculated. When the fluctuation width exceeds a predetermined first fluctuation allowable width and when the reliability is less than a prescribed value, a width of the detected white line is set as a first fluctuation allowable width, and the white line set as the first fluctuation allowable width is recognized as the white line. When the fluctuation width exceeds the predetermined first fluctuation allowable width and when the reliability is the prescribed value or above, a width of the detected white line is set as a second fluctuation allowable width larger than the first fluctuation allowable width, or below, and the white line of the second fluctuation allowable width or below is recognized as this white line. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
