| 摘要 |
PURPOSE:To accurately detect an object in front of a vehicle by obtaining the point of intersection of two white lines on both sides of one's own lane and a specified third straight line, and detecting the object by decided procedures. CONSTITUTION:Two straight lines approximating to white lines on both sides of one's own lane are detected on a photographed picture plane, the point of intersection of them is computed, existence of an object in the territory from one's own vehicle to the point of intersection and surrounded with the two straight lines is searched, and the object on the one's own lane is detected. When a plurality of lanes exist, an object on the right adjoining lane can be detected by obtaining a third straight line connecting a position on the right outside of the territory between two straight lines to the point of intersection on a scanning line, and searching existence of an object in the territory from the own vehicle to the point of intersection and surrounded with the white line of right end of the own lane and the third straight line. Similarly an object on the left adjoining lane can be detected. Thus, the object not only on the own lane but on the adjoining lanes can be accurately detected, and estimation of adjoining lane territory is sure as far as detection of the white lines on right and left of the own lane is correct. |
