| 摘要 |
PROBLEM TO BE SOLVED: To properly detect a traveling path even when there is no clear features such as lane marks by detecting a traveling path based on a traveling path model specified by a model selecting means. SOLUTION: A main traveling path detecting means 2 is constituted of a CCD camera 10 as an 'image pickup means' and a detection processing part 20 as a 'detecting means'. This detection processing part 20 is equivalent to an 'image corresponding direction calculating means' and a 'model selecting means'. Then, a CPU 24 executes a processing for detecting the traveling path in image data based on image data stored in an image memory 23. At the time of operating the detection processing, the image fetched through a CCD camera 10 is divided into areas, and the directional data of a traveling path model is calculated for each area. Then, which of preliminarily set traveling models the directional data are pertinent to is judged, and voting for the pertinent traveling model is operated. Then, the traveling model for which voting is operated the most is treated as the traveling path based on the voting results for all areas.
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