| 摘要 |
PURPOSE:To provide a road structure recognizing device which can easily and quickly recognize the corner part of a running course. CONSTITUTION:An entire image (a) corresponding to the whole of circumstances in the front is picked up by a camera for whole recognition, and a partial image (b) corresponding to a part of circumstances in the front is picked up by a camera for partial recognition. The end of the running course is detected based on the entire image (a) to obtain approximate lines L1 and R1. The end of the running course is detected based on the partial image (b) to obtain approximate lines L2 and R2. Approximate lines L1 and R1 and approximate lines L2 and R2 are compared, and the running course is recognized as a linear course when they coincide with each other, but the existence of a corner part is recognized when they do not coincide with each other. |
