RUNNING LANE RECOGNIZING DEVICE

摘要

PURPOSE: To detect a running lane with high accuracy even when there are circumferential structures and ambiguous lines such as marks on a road surface and the like and the curve of the road is sharp. CONSTITUTION: An edge line part is extracted from an image inputted by an image inputting means 1 in a pre-processing 2 to be inputted to a curve checking means 3. The curve checking means 3 sets a curved band search region on the image on the basis of a lane shape parameter in the previous calculation and the distribution value and selects the edge line part in the region as a lane boundary candidate to supply it a lane shape calculating means 4. The lane shape calculating means 4 calculates and renews the lane shape parameter and distribution value. As a result, it is possible to adequately narrow the width of the search region based on the distribution value of the lane shape parameter, to prevent misunderstanding against ambiguous edge lines and to enhance the accuracy.