Patent ID: 9626572
Date: 2017-04-18
CPC Classifications: B60R,G06K,G06T,G08G

Claim:
1. An apparatus that detects a boundary line of a vehicle lane, the apparatus comprising: image acquiring means for acquiring a road surface image capturing a road surface in the periphery of a vehicle; detecting means for detecting a vehicle-lane boundary line by image processing from the road surface image acquired by the image acquiring means; calculating means for calculating a parameter indicating the degree of whiteness of an area corresponding to below the vehicle center in comparison with an area corresponding to below the tire of the vehicle in the road surface image acquired by the image acquiring means; and determining means for determining whether or not to perform any process designated among the detection by the detecting means, output of the detected vehicle-lane boundary line, and predetermined control using the detected vehicle-lane boundary line, based on at least the parameter calculated by the calculating means.