| 摘要 |
<P>PROBLEM TO BE SOLVED: To correctly recognize the lane mark position on a traveling passage before a vehicle. <P>SOLUTION: A filter to output the rotational moment D around a center pixel in a predetermined section and a filter to output the absolute integrated value E of the pixel value in the predetermined section are applied to a pixel C with a contour enhancement filter applied to a picked-up image with the pixel as the rotational force, and an image F is generated with the difference between the outputs D and E of the filters as the pixel value. This image F is scanned in the predetermined direction to detect an UP-edge and a DOWN- edge with the considerably changing pixel value (G). The part between the edges is determined as a lane mark if the interval between the edges is in a preset range, and the center thereof is determined as the lane mark position. If the interval of the recognized lane marks does not exceed the preset interval, the adjacent lane marks are determined as composite lines, and the center of the specified lane marks is determined as the position of the composite lines. <P>COPYRIGHT: (C)2003,JPO |
