| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling path detector for vehicle capable of highly accurately detecting the direction of a traveling path whichever it is a curved path or a straight path and whichever the white line is a solid line or a broken line. SOLUTION: This detector is provided with an image input means 101 loaded on a vehicle for picking up road images in front of the vehicle, a pre-processing means 102 for inputting signals from the image input means 101 and extracting an edge point, a curve detection means 106 for detecting the degree of the curve of the traveling path in front of the vehicle, a window setting means 104 for setting a window near a straight line or curve expression at the time of the arithmetic operation of a previous time, a candidate point extraction means 103 for calculating the coordinate of the edge point inside the window set by the window setting means 104 and a traveling path calculation means 107 for calculating the shape of the traveling path by referring to the coordinate of the edge point extracted in the candidate point extraction means 103 and connecting picture elements for indicating the edge point so as to form a straight line or a curve. The window setting means 104 switches the setting direction of the window to a horizontal direction or a vertical direction corresponding to the degree of the curve detected in the curve detection means 106. |
