| 摘要 |
PROBLEM TO BE SOLVED: To judge the presence of a branch route at a spot sufficiently isolated from a branch route. SOLUTION: White lines at the both front sides of a vehicle photographed at one road picture are respectively recognized as one white line. The x-axial direction line is scanned from the lower part to the upper part of the picture corresponding to N coordinate values specifying the recognized white line so that the other white line candidate can be detected. That is, the other white line candidate is detected on N lines whose y coordinate values are yN, yN-1 ,..., y1 , and the distance between the recognized white line and the detected white line is calculated as the distance on the line (S110-S155). Then, the distance between the recognized white line and the detected white line is approximated as a straight line by using that distance, that is, a difference Δxj of the x coordinate values (S160). Then, it is judged that the inclination of the approximated straight line is present in a prescribed range (S170), and the presence of a branch route is judged (S180). |
