| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method and a device for detecting a road shoulder of a road on which a vehicle should travel stably and at high speed by using an on-vehicle stereo camera as technology for realizing support for safe drive and automatic travel of an automobile. <P>SOLUTION: This device is provided with cameras 1, 2 that photograph images I1, I2, image storage parts 3, 4 that successively store the images I1, I2, a difference image generation part 5 that calculates absolute value difference in brightness values between a converted image M1 formed by converting the image i1 into a view from the camera 2 by assuming a car is constrained on a road plane and the image I2 by every pixel and that generates a difference image S1, a difference image generation part 6 that calculates absolute value difference in brightness values between a converted image M2 formed by converting the image I2 into a view from the camera 1 by assuming a car is constrained on the road surface by every pixel and that generates a difference image S2 and road shoulder detection part 7, 8 that detect road shoulders on each side of the cameras 1, 2 from the difference images S1, S2. <P>COPYRIGHT: (C)2003,JPO |
