| 摘要 |
PROBLEM TO BE SOLVED: To obtain a detection apparatus by which an object in front of a vehicle on a road, especially on a curve road, can be detected in an early stage by computing the approximate line of the connection of all first-scene-originated density edge points and second-scene- originated density edge points on road-system coordinates. SOLUTION: A first scene which is photographed by a first camera 16b contains a precedent vehicle and the like on a vehicle where the apparatus is mounted running lane at a short distance of 10 to 30m, and its resolution is high. In second scenes which are photographed by a second camera 26b and a third camera 36b , the resolution of a road surface and a vehicle at long distances of 30 to 60m and 60 to 90m is high. Positions of density edge points on both photographed scene screens are converted, by coordinate conversion means 100 to 300, into an identical road-system coordinate position in which the horizontal projection line of respective vehicle front and rear axles is regarded as one axle, and a density edge point distribution on the top view of a road surface is obtained. A line which approximates the connection of all density edge points originated from both scenes of road-system coordinates is computed 100, and the approximate line of an on-road white line from a short distance up to a long distance is obtained. When the approximate line is used as a reference to set a search region in order to detect a preceding vehicle, an object in front of the vehicle on a road, especially on a curve road, can be detected in an early stage. |
