Lane image processing system for vehicle

摘要

A lane image processing system for a vehicle to recognize the lane on which the vehicle travels. The system has a CCD camera mounted on the vehicle for viewing a roadway scene ahead of the vehicle to output image data of the roadway scene including the lane on which the vehicle travels. Obstacles such as preceding vehicle are detected and a region for image data processing is determined (S18) so as to avoid the position of the obstacle and the lane on which the vehicle travels is recognized based on the processed result. More specifically, lane boundary positions estimated up to a preceding cycle are stored as historical information (S14) and in the region Hough transformation is limited in areas determined based on the historical information and the horizon in the roadway scene. $$