| 摘要 |
PURPOSE:To shorten an arithmetic time and simplify circuit constitution without requiring any large memory area. CONSTITUTION:This device has an image pickup unit which obtains a road surface image, an edge decision circuit which scans the obtained road surface image horizontally, decides a position where the lightness of the image increases relatively by more than specified as an up edge, and also decides a position where the lightness of the image decreases relatively by more than specified as a down edge, and a white line position determining circuit 2 which determines a white line position in the image on the basis of the pair of the up edge and down edge when the interval between the up edge and down edge in the image is less than a specific limit value. |
