Importance

Loading Importance Indicators...

Abstract

A road lane recognizing apparatus can accurately recognize a road lane position from an image shown by an actual road surface image signal obtained by picturing a road surface in front of a vehicle by means of picturing means such as a television camera or the like mounted on the vehicle. Whether the vehicle exists on a straight part of road or not is discriminated in accordance with a vehicle-self position detected by vehicle detecting means. When the vehicle exists on the straight part, an attitude angle showing the direction of the vehicle for the road direction at the vehicle-self position is detected. When the attitude angle is detected, a predetermined ideal road surface image is inclined by only the attitude angle, thereby obtaining the corrected road surface image. The actual road surface image signal from the picturing means is compared with a signal of the corrected road surface image. An image difference is used as an offset amount. The actual road surface image is corrected by only the offset amount. The road lane position is recognized on the basis of the image shown by the corrected actual road surface image signal.

Loading the Abstract Image...

First Claim