| 摘要 |
PURPOSE:To detect an object existing ahead on a curved road as quickly as possible (during the period of its existence far away) and to improve detecting accuracy. CONSTITUTION:In a method for calculating the differential value of image data representing a scene including a road surface existing ahead of a vehicle on the screen of an X-Y orthogonal coordinate system, for finding out a straight line representing the range of plural feature points (Xs, Ys) with positions more than a set point value as a feature point (Xs, Ys), detecting right and left end white lanes on the traveling lane of the vehicle in the scene, and detecting an object in a prescribed area on the screen based upon straight lines expressing the right and left end white lines, an intersecting point (Xv, Yv) between the two straight lines representing the right and left end white lines is obtained, a deviation area corresponding to the deviation direction and deviation quantity of the intersecting point (Xv, Yv) from a prescribed position on the screen is set up and the object is detected in the area surrounded by the two stright lines and in the deviation area. |
