| 摘要 |
In a steerable vehicle including automatic steering means signal processing circuitry is provided for employing image data provided by a camera (1) mounted on the vehicle to produce control signals for use in operating the automatic steering means of the vehicle to cause the vehicle to follow a guide line on a surface over which the surface is travelling. The circuitry comprises guide line recognition means (21, 22, 23) for determining which of the image points represented by such image data are line-indicating points characterised by image data values satisfying predetermined conditions consistent with passage of the guide line through points on the surface that correspond respectively to the image points. The circuitry also includes density determining means (31 to 35) for employing data from the guide line recognition means (21, 22, 23) to determine locations where the density of such line-indicating points is maximal across the field of view of the camera, thereby to determine the course of the centre of the guide line over the surface. This information can then be employed in, for example, a fuzzy inference method to produce the required control signals for use in operating the automatic steering means of the vehicle. Such circuitry can enable the guide line to be detected more precisely and quickly, and can improve the reliability of the vehicle steering control. |
