DEVICE FOR DETECTING ROAD TRAVELING LANE

摘要

A device for detecting a road traveling lane, capable of stably specifying a boundary line of a traveling lane. The device has edge point detecting means (ED) for detecting edge points in a contour line in an image, histogram producing means (HD) for producing a histogram of edges vertical to horizontal components of the edge points, block mark line determining means (BD) for determining the presence and absence of a block-like mark line based on periodicity of distribution in the vertical edge histogram and a combination of distribution of plus edges and minus edges, lane boundary detecting means (MD) for detecting vertical edge points present in the outside (relative to the center of a traveling lane) of an area where the block-like mark line is present, and lane boundary position specifying means (LD) for specifying the position of a line matching the vertical edge points as the position of a boundary line of a traveling lane.