| 摘要 |
<p>An image sensor (2) mounted on a vehicle takes images ahead of the vehicle to acquire image information. An edge pixel extractor (40202 to 20406) scans the image information for each line, examines the boundary between a specific color and other colors, and extracts the pixels having the specific color as edge pixels. Further, a lane extractor (40208 to 40212) looks up to the position coordinates of the extracted edge pixel and determines a straight line constituted by connecting the edge pixels corresponding to the classification, when the edge pixels are assumed to be classified in such a manner as to constitute the straight line, as choices of lane. A lane selector (40212) selects a left lane and a right lane ahead of the vehicle and determines the left lane and the right lane.</p> |
