| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect a lane marker irrelevantly to the shape of the lane marker. <P>SOLUTION: In last process implementation, a detecting process decision part 23 decides which of a straight-line detecting process of performing detection based upon segment components of a picked-up image and pattern matching process of performing detection based upon a pattern corresponding to the shape of a lane marker of a metal tack, etc., is set as a process to be used next time for a search area set by a search area setting part 22 and according to the decision result, a straight-line detecting process part 24 or pattern matching process part 25 detects the lane marker. On the basis of the detection result, a next-time detecting process determination part 26 sets a process to be performed next for the search area and when the lane marker is accurately detected, the same process with this time is set for implementation, and when the lane marker is not accurately detected and a condition for switching between the straight-line detecting process and pattern matching process is met, the other process is set for next implementation. <P>COPYRIGHT: (C)2004,JPO |
