| 摘要 |
<P>PROBLEM TO BE SOLVED: To quickly and stably detect a traveling lane on a road face, without being affected by road face and lane mark conditions. <P>SOLUTION: The road face is continuously imaged by an imaging means CM, a feature point data is extracted from a prescribed area of an image DS imaged in this time, in a feature point extracting means CR, and a straight line data in this time for expressing a straight line fit most properly to the feature point data in this time is detected in a straight line detecting means SD. The traveling lanes (LL1 and RL1) in this time are detected based on the straight line data in this time in a lane detecting means LD, and the traveling lane in this time and the straight line data in this time are supplied to the feature point extracting means CR. A prescribed characteristic is set based on the traveling lane in this time and the straight line data in this time, in the feature point extracting means CR, and a feature point data satisfying the prescribed characteristic is extracted as the next feature point data out of feature point data extracted from an image imaged in the next time. <P>COPYRIGHT: (C)2004,JPO |
