ROAD ENVIRONMENT RECOGNIZING DEVICE

摘要

PURPOSE:To provide a road environment recognizing device capable of easily and surely recognizing the sign of a travelling road without receiving influence by obstructions and noise and recognizing the position of a vehicle in front. CONSTITUTION:This device is constituted of a picture recording means 1, an edge picture extraction means 2 for extracting only the outline of an object from road pictures obtained by the picture recording means 1, a means 31 for deciding the lowest part of the vehicle in front for finding the boundary line of the vehicle in front and a road surface by checking the state of a horizontal edge on a search line while moving the search line set beforehand from the present vehicle to a far road surface part in the edge pictures, the means 32 for deciding the search area of the vehicle in front for setting an area for judging the right and left positions of the vehicle in front in the.lowest part decided by the means 31 for deciding the lowest part of the vehicle in front and the means 33 for deciding the position of the vehicle in front for deciding the right and left positions of the vehicle in front by using a counting means for counting the number of horizontal edge components inside the search area of the vehicle in front.