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Abstract

A system for controlling an unmanned vehicle by detection of a guide line based on a picture image picked up by a camera on the vehicle, including a parameter (.rho., .theta.) deriving unit for deriving parameters (.rho., .theta.) of point extracted from a picture image picked up by a camera, and a maximum density parameter detection unit for integrating the densities of parameters derived by the parameter deriving unit and determining the maximum density parameter from the integrated densities of the parameters. The maximum density parameter is determined from the parameter derived by the parameter deriving unit, for the parameter area having at the center thereof the parameter estimated from the maximum density parameter, and the detected maximum density parameter is decided as the parameter of said guide line. The determination of steered amount by a fuzzy inference can be used.

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