| 摘要 |
PROBLEM TO BE SOLVED: To provide a road partition line recognizing device capable of estimating a road parameter with high accuracy. SOLUTION: A partition line candidate line becoming a candidate for a partition line is detected from an image photographed by a CCD camera 3, image coordinates of a representative point set on the partition line candidate line are calculated, and inclination of the partition line candidate line in each representative point is obtained. According to a first equation containing the respective parameters C, A, B, D and H, the image coordinates of the respective representative points and the inclination of the partition line candidate line, the product Z of the parameter B by H (=B*H) and the parameters C, D are estimated. Subsequently, according to a second equation containing the past value of the product Z, the parameter B is obtained, and two or more representative points are selected for one of the left partition line candidate line and the right partition line candidate line. According to the image coordinates of the respective representative points, the parameters B, C, D and a third equation containing the parameters C, A, B, D and H, the parameters A and H are estimated. |
