| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling lane recognizing device capable of evading the influence of a preceding vehicle at the time of recognizing white lines by image processing and correctly recognizing a traveling lane at a low cost. SOLUTION: In the device, an image information processing means 4 processes image information picked up by an image pickup means 2 and an estimation means 5 estimates the traveling lane position of its own vehicle based on right and left white line positions on a forward road obtained from the processed information. The device is provided with an obstacle position detecting means 3 for detecting an obstacle on the forward road, and when an obstacle is detected by the means 3 and the obstacle exists on either one of the right and left sides of the traveling lane already obtained by estimation, the means 5 estimates the position of the traveling lane mainly based on the white line information on the side separated from the position of the obstacle out of the right and left white lines. |
