| 摘要 |
<P>PROBLEM TO BE SOLVED: To appropriately determine a line delimiting the position and shape of a side edge portion of a lane. <P>SOLUTION: A white line recognition part 2 for determining a white line position from a road surface image ahead of a vehicle photographed by an imaging part 1 scans the road surface image laterally in each longitudinal position of the road surface image to detect an edge pair comprising an up edge with increasing lightness and a down edge with decreasing lightness and extract a bright portion by a white line, and if observing an arrangement of a plurality of edge pairs, sets a white line position candidate point in a point positioned relative to the plurality of edge pairs according to the arrangement. Even in a road portion with an arrangement of a plurality of white lines, a white line position candidate point that would be determined if the road portion were a road portion with a single white line can be determined. <P>COPYRIGHT: (C)2004,JPO |
