Patent ID: 9690995
Date: 2017-06-27
CPC Classifications: G06K,G06T

Claim:
1. An image processing apparatus, comprising: an imaging unit that obtains at least one captured image, as a color image, through imaging of a direction of travel of a vehicle equipped with the image processing apparatus; and a lane line detector that detects a lane line projected as a subject, on the basis of the captured image obtained by the imaging unit, wherein the lane line detector is configured to execute lane line detection processes targeted on a lane line search range set for the captured image, the lane line detection processes including a lane line detection process according to a first mode and a lane line detection process according to a second mode, the lane line detection process according to the first mode being configured to detect a lane line portion based on a luminance image for more than half of rows within the lane line search range and detect a lane line portion based on a color difference image for rows other than the more than half of rows, the lane line detection process according to the second mode being configured to detect a lane line portion based on the color difference image for a greater number of rows than in the first mode, and wherein the lane line detector executes a mode switchover control process of performing mode switchover determination between the first mode and the second mode on the basis of the number of rows in which a lane line portion of a predefined width or wider has been detected, from among the rows in which a lane line portion has been detected based on the color difference image, and performing mode switchover control based on the determination result.