| 摘要 |
PROBLEM TO BE SOLVED: To improve the accuracy of detecting a white line candidate point corresponding to a road line white without any increase in processing time. SOLUTION: A white line candidate point is detected from a pick-up image and taken as a candidate point group A (step S1 to S3). When the own vehicle advancing direction of the pick-up image is taken as y-coordinates and the road width direction is taken as x-coordinates, a combination of white line candidate points having the same y-coordinates and corresponding to the right and left road white lines of the white line candidate points of the candidate point group A is detected, and the distance between the x-coordinates, that is, the lane width dx is calculated (step S4). The lane width dx and its y-coordinate values are approximated to the linear function expression collectively concerning the whole of the pick-up image, and the combination of the right and left white line candidate points existing near the approximated approximate expression is extracted as a candidate point group B (steps S5, S6). Among the white line candidate points of the candidate point group A, points adjacent to the white line candidate points belonging to the candidate point group B are extracted and added to the candidate point group B, and according to the white line candidate point of the candidate point group B, a road parameter is estimated (steps S8, S9). |
