| 摘要 |
<p>PURPOSE:To accurately recognize a discontinuous line without misrecognizing a continuous line as a discontinuous line by finding the difference image between two images which are inputted in sequence and adding them successively. CONSTITUTION:The television signal V which is outputted by a television camera 10 is inputted to an image input device 11. The image input device 11 preprocesses the television signal V by smoothing, binarization, etc., and then performs A/D conversion to output a digital image signal S for external environment recognition. Further, a vehicle speed detector 21 is mounted on the automobile 5 and the signal outputted by this detector 21 is inputted to a timing calculation part 20. The image signal S is sent to an environment recognizing means 12 to extract edges, areas, etc., indicating a travel path. Path information on a discontinuous line on the travel path is also inputted to a local map generating means 13 to generate a local map.</p> |
