TRAFFIC LANE DETECTING DEVICE, TRAFFIC LANE DEVIATION WARNING DEVICE AND COLLISION WARNING DEVICE

摘要

PURPOSE:To detect a white line from successive road picture data, to detect the road structure and driving direction from a moving vector, and to detect a front obstacle. CONSTITUTION:The front part of a vehicle is photographed by a road picture input means 10. A moving section detecting means 11 detects a moving part and unmoved part by taking the difference between frames with the use of the continuous road picture data inputted by a road picture input means. A white line detecting means 12 extracts the only white line of the traffic lane being traveled from the moving part and unmoving part.