| 摘要 |
PROBLEM TO BE SOLVED: To reduce a manufacturing cost and to widen a cabin space. SOLUTION: When a lane marker to be detected is linear (step S102, Yes), preprocessing is carried out for extracting an image at a great distance from its own vehicle from an image taking a condition in front of its own vehicle, the linear lane marker is detected on the basis of the extracted image (step S103), and on the basis of information about the linear lane marker, a traveling lane is recognized (step S105). If a lane marker to be detected is dotted one (step S102, No), preprocessing is carried out for extracting an image of the vicinity of its own vehicle from the image taking the condition in front of the own vehicle, the dotted lane marker is detected on the basis of the extracted image (step S109), and on the basis of information about the dot lane marker, the traveling lane is recognized (step S111). |
