| 摘要 |
PURPOSE: A lane image signal discriminating method is provided to check if the state of a lane is good or bad by detecting lane image signals while traveling. CONSTITUTION: A system photographs forward, left, and right lanes while traveling(S20) and converts the photographed lanes to image signals(S21). Then, the system detects the size and direction of each lane edge from the image signals(S22). The system obtains an average rate and a dispersion rate between a lane detecting zone and a lane non-detecting zone(S24) after adding the edge sizes in the same direction(S23). When the average rate and the dispersion rate are negative, the system decides whether the state of the lane is impossible to be recognized or not(S25).
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