| 摘要 |
PURPOSE:To simply and surely defect also a white line curved along a road face or a broken white line by setting up a final picture element existing in the vicinity of a straight line as a start point and searching a succeeding picture element in a picture direction far from a vehicle within a prescribed range. CONSTITUTION:A white line curved along a road face can also be regarded as an approximately straight line within a prescribed range close to a vehicle. Only picture elements in a picture included in the prescribed range are selected and a picture element existing in the vicinity of the straight line is extracted and judged as a white line edge, so that the extracted white line edge is well matched with a practical one. When the curved white line exceeds the prescribed range, the position of an edge picture element having a large brightness change is deviated from the straight line. In this case, the final picture element existing in the vicinity of the straight line is set up as the start point, a succeeding picture element is searched in a picture direction far from the vehicle with a prescribed range and the picture element searched within the range is set up as the succeeding white line edge. Consequently a white line can be simply and easily detected even when it starts to be curved without requiring complicated calculation or the like. |
