Image pre-processing unit, the lane mark recognition apparatus, the vehicle travel control apparatus and a recording medium

摘要

PROBLEM TO BE SOLVED: To improve the processing efficiency of lane mark recognition by outputting an image defining the difference between the turning moment of a center pixel of a prescribed section set larger than the lane mark width in an image pickup image in the case of regarding a pixel value as turning force in a prescribed direction and an integrated absolute value obtained by integrating pixel values as lane mark feature valve to the image pickup image undergoing contour enhancement. SOLUTION: A road environment image is inputted from a CCD camera through an analog digital converter(ADC) (S1), and next, a road environment image filter 1 is applied (S2). A filter 2 is applied to an image outputted by applying the filter 1 to obtain an output A (S3). Further, an output B is obtained by applying a filter 3 (S4). Then, the absolute value abs (B) of the output B is obtained as an output B' (S5). Difference C is calculated by subtracting the output B' from the output A (S6). Then, an image having the difference C as lane mark feature value is outputted to an image memory (S7).