| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a running controller for automatic running vehicle which resolves a problem of erroneous detection of the end of a running line to always surely detect the end of the running line and has a high reliability. SOLUTION: This running controller processes an image in the front of a vehicle 6 obtained by an image pickup means 7 to detect a white line (the end of a running line) 1a and automatically runs the vehicle 6 along this white line 1a. In this case, edges in the image are detected, and an edge string arranged most linearly is recognized as the white line la and its position is obtained by Hough transformation. Parts having the same image data as a part corresponding to the ground surface just before the vehicle 6 in the edge image are continuously radially extended from this part to detect a range of the running line, and the image after detection of the range of the running line is used to detect the white line 1a.</p> |
