| 摘要 |
PROBLEM TO BE SOLVED: To improve the detection precision of a travel division line on a road. SOLUTION: White line extraction parts 41a and 41b detect a white line candidate from picture data photographed by a front camera 26 and a rear camera 27. Coordinate system conversion parts 42a and 42b convert data on the extracted travel division line from a camera coordinate system to a plane coordinate system. An inertia navigation part 44 calculates respective changes in the moving distance, the moving direction and the vehicle direction of the vehicle at every prescribed unit processing time based on the angular velocity of the vehicle, which is detected by a yaw rate sensor 21, and the velocity of the vehicle, which is detected by a vehicle velocity sensor 22. An inertia navigation coordinate conversion part 45 estimates the travel division line in an area near the vehicle based on a calculated result in the inertia navigation part 44 and stores it in an inertia navigation data storage part 46 as inertia navigation data K. An approximate curve calculation part 47 calculates the approximate line L by applying a minimum square method to data obtained by combining front data F, rear data R and inertia navigation data K. |
