LINE DETECTING DEVICE FOR VEHICLE, ON-ROAD LINE DETECTING METHOD, AND MEDIUM RECORDED WITH PROGRAM

摘要

PROBLEM TO BE SOLVED: To allows a line detecting device for a vehicle to detect a line such as a white line from an obtained road image irrelevantly to the travel environment or photographic environment. SOLUTION: An optical system 1 projects two images differing in exposure quantity on different areas on a single CCD sensor 24 and supplies them to an image processor 28. The image processor 28 detects a white line by using one of the said two images. For example, when the vehicle enters a tunnel, an image which is large in exposure quantity is adopted as an image of the tunnel inside and an image which is small in exposure quantity is used outside the tunnel to detect the white line. Thus, the two images which are different in exposure quantity are used to substantially expand the dynamic range of the CCD sensor 24 and various travel environment is adapted to.