| 摘要 |
PROBLEM TO BE SOLVED: To provide a curved road recognizing method for a lane modeling system as a curved road recognizing method for an automatic traveling system dividing a road image area shot during lane modeling into two areas, modeling lanes of each area into straight lines, and recognizing a curved road by a circumscribed circle of a triangle comprising the modeled straight lines of each divided area. SOLUTION: In a road modeling system, the curved road recognizing method for the lane modeling system divides an image shot by an image shooting means into a plurality of image areas, models the lanes into straight lines in the divided image processing areas, and estimates a road curvature by using a triangle comprising a plurality of the straight lines. |
