| 摘要 |
PROBLEM TO BE SOLVED: To stably acquire a reference picture to which vehicle information is not added by selecting an input picture having high possibility of no vehicle existence at the time of generating a road reference picture based upon a traveling road picture signal. SOLUTION: At the time of detecting a vehicle from variation between the luminance value of a road reference picture generated based upon a picture signal for a vehicle traveling road and the luminance value of an input picture, test lines 1A, 1B are set up in traveling lanes 3A, 3B in a measured area 2. Timewise difference value between the luminance value of an input picture entered at a certain time (t) and a luminance value obtained before one measuring period is found out in each picture elements on the test lines 1A, 1B and the timewise difference values of respective picture elements are totalized. In an input picture at a certain time (t), the spatial difference value of luminance values between adjacent picture elements on the lines 1A, 1B is found out, the spatial difference values of respective picture elements are totalized. The total values of these timewise and spatial differences are respectively compared with thresholds, and when both the total values are less than respective thresholds, the luminance value of the road reference picture in each picture element at the time (t) is found out by exponential smoothing and the road reference picture is successively updated. |
