| 摘要 |
PROBLEM TO BE SOLVED: To enable a vehicle to simultaneously recognize its lane in both near and far areas when the traveling lane of the vehicle is recognized based on the image data which are photographed by an on-vehicle camera. SOLUTION: The front road surface of a vehicle is photographed at an image pickup part 1, and this photographed image information is shown at a display part 14. At the same time, a processing part 5 sets the condition to extract a lane out of a near area of the image information and also the condition to extract a lane out of a far area respectively and then extracts the pixels out of both near and far areas to satisfy respective extraction color conditions and recognizes the lane based on the extracted pixels. As a result, since the lane extraction conditions can be set independently of each other in both near and far areas, the lane can be simultaneously recognized in both areas. |
