| 摘要 |
PROBLEM TO BE SOLVED: To improve automatic day/night discrimination by fixing a plurality of areas in a specific area expected as a blank area in a two-dimensional image picked up by a camera, discriminating the blightness in the areas, and discriminating between two kinds of blightness of external environment. SOLUTION: In a window 2-1, the left and right end white lines LR1 and LL1 of the lanes where this vehicle travels are detected to estimate the left end and right end white lines of the left and right adjacent lanes, whether or not there is a body in the area between the LR1 and LL1 is detected, and the distance from this vehicle to the body is calculated. When the body is detected in this area, processes regarding windows 2-2 and 2-3 are not performed. In nighttime, the (y)-directional position of a window to be processed is corrected with the height of the tail lamp part of a precedent vehicle. Namely, the position of the processed window is corrected according to day/night differences, distance calculation expressions are switched, and threshold values for decision making are also switched to utilize a precedent vehicle recognition process in both daytime and nighttime in common. |
