| 摘要 |
PURPOSE:To extract a straight line part on a screen image-picked up by an on-vehicle camera. CONSTITUTION:A recognition processing part 15 recognizes a prescribed kind of object on the screen image-picked up by an on-vehicle color camera 11. When such recognition is performed, a road disappearing point where a road disappears on the screen is found. The road disappearing point is found as the intersection of the straight lines on the screen. Therefore, processing to extract the straight line part is required first. A point switching between a stable state with low change of color tone, etc., and an unstable state with high change of color tone, etc., is extract as a straight line candidate point. In this way, it is possible to sample not only a white line but the straight line part in accordance with a divider strip and a road edge. Therefore, since a large number of straight lines can be extracted the calculation accuracy of the road disappearing point can be improved. |
