PROBLEM TO BE SOLVED: To provide an image processor for accurately determining whether a vehicle approaches a road white line.SOLUTION: The image processor includes a candidate point detection part 2 for detecting a plurality of road white line candidate points based on a road white line included in a camera image picked up by a camera 10 provided in a vehicle, a candidate point determination part 3 for determining two representative candidate points based on coordinates of the plurality of road white line candidate points, and a determination part 4 for determining whether the vehicle approaches a road white line by using the coordinates of a reference point which is on a curve going through the two representative candidate points and corresponds to an area that is not included in the camera image. Further, the candidate point determination part 3 extracts three points at a lower edge side in the camera image and three points at an upper edge side in the camera image among the plurality of road white line candidate points, and determines two representative candidate points with a point represented by an average of coordinates of the three points at the lower edge side as a first representative candidate point, and with a point represented by an average of coordinates of the three points at the upper edge side as a second representative candidate point.
【課題】車両が道路白線に近づいたか否かを正確に判定する画像処理装置を提供する。【解決手段】車両に設けられるカメラ10が撮像するカメラ画像に含まれる道路白線に基づく複数の道路白線候補点を検出する候補点検出部2と、複数の道路白線候補点の座標に基づく2点の代表候補点を決定する候補点決定部3と、2点の代表候補点を通る曲線上の基準点であって、カメラ画像に含まれない領域に対応する基準点の座標を用いて、車両が道路白線に近づいたか否かを判定する判定部4と、を有する。また、候補点決定部3は、複数の道路白線候補点の内、カメラ画像における下端側の3点と、カメラ画像における上端側の3点とを抽出し、下端側の3点の座標の平均で表される点を第1の代表候補点として、上端側の3点の座標の平均で表される点を第2の代表候補点として、2点の代表候補点を決定する。【選択図】図1
IMAGE PROCESSOR
画像処理装置
2015-08-24
Patent
Elektronische Ressource
Japanisch