| 摘要 |
<P>PROBLEM TO BE SOLVED: To sort out lane marking candidate points by tilt comparison between the candidate points, and to properly recognize a lane marking on a main lane side. <P>SOLUTION: A lane recognition image processing device temporarily stores an image obtained by a photographing means for photographing the forward matter, reads out the stored image, sets a lane marking retrieving range, detects the lane marking candidate points from the inside of a lane marking retrieving window, sorts out the detected lane marking candidate points by tilting comparison between the candidate points, and estimates a mathematical model equation of the lane marking by approximating a set of the selected lane marking candidate points based on the mathematical model equation. <P>COPYRIGHT: (C)2003,JPO |
