The purpose of the present invention is to reliably detect a parking frame drawn on a road surface. An imaging unit (10) installed on a vehicle (1) captures an image (I) of the surroundings of the vehicle (1), said image including at least a road surface. A white-line-candidate-area detector (30) detects, from within the captured image (I), a white-line-candidate area which is likely to configure a parking frame. A parking-frame-similitude calculation unit (40) calculates the brightness distribution of the detected white-line-candidate area and the surroundings of boundary points of a road surface. When the brightness distribution satisfies a prescribed condition, the parking-frame similitude, i.e. the degree to which the white-line-candidate area forms a parking frame, is determined to be low. When the parking-frame similitude of the white-line-candidate area configuring a parking frame detected from within the image (I) by a parking-frame detector (60) is low, the degree of certainty (U) for the detected parking frame is set to low.
On-vehicle image processing device
2015-08-05
Patent
Elektronische Ressource
Englisch
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