| 摘要 |
PROBLEM TO BE SOLVED: To precisely recognize a guide line using a travel path recognizing device. SOLUTION: In a guide line recognition with an image processing, a prediction line is drawn at a position where a guide line is considered to be present in a road surface image in a step S120 according to values predicted on the basis of past guide line parameters and automobile attitude (camera attitude) parameters. In a step S130, a 1st search area is provided around and along the prediction line. In the area, guide line candidate points are searched and deviations at respective positions are obtained. In a step S140, their means value line is found. In a step S150, a 2nd search area is provided around and along the mean value line and the number of candidate points in the area is obtained. When the number of the candidates is larger than a reference value, it is judged the line is the real guide line, but when not, miscrecognition is judged. Even abrupt, large variations of the guide line can flexibly be followed up and misrecognition of a foreign body on the road surface can be evaded. |
