Vehicle, image processing system image processing method, image processing program, method for configuring image processing system, and server

An image processing system comprising:

• a first processing unit which searches for a first small area composed of high-luminance pixels and satisfying eligibility conditions and a second small area composed of low-luminance pixels and satisfying eligibility conditions in a road surface image captured by imaging means mounted on a vehicle;
• and
• a second processing unit which recognizes lane edges of a lane along which the vehicle travels on the basis of the first and second small areas found by the first processing unit,
• wherein the high-luminance pixels with a luminance equal to or higher than a light threshold value have a higher luminance than a first luminance of the road surface image, and the low-luminance pixels with a luminance equal to or lower than a dark threshold value have a lower luminance than a second luminance of the road surface image,
• wherein the eligibility conditions are those on the size, the size and shape, the size and arrangement, or the size, shape, and arrangement in the road surface image.

An image processing method comprising:

• a first process of searching for a first small area composed of high-luminance pixels and satisfying eligibility conditions and a second small area composed of low-luminance pixels and satisfying eligibility conditions in a road surface image captured by imaging means mounted on a vehicle;
• and
• a second process of recognizing lane edges of a lane along which the vehicle travels on the basis of the first and second small areas found in the first process,
• wherein the high-luminance pixels with a luminance equal to or higher than a light threshold value have a higher luminance than a first luminance of the road surface image, and the low-luminance pixels with a luminance equal to or lower than a dark threshold value have a lower luminance than a second luminance of the road surface image,
• wherein the eligibility conditions are those on the size, the size and shape, the size and arrangement, or the size, shape, and arrangement in the road surface image.

An image processing program embedded in a non-transitory medium, the image processing program causing a computer to perform:

• a first processing function of searching for a first small area composed of high-luminance pixels and satisfying eligibility conditions and a second small area composed of low-luminance pixels and satisfying eligibility conditions in a road surface image captured by imaging means mounted on a vehicle;
• and
• a second processing function of recognizing lane edges of a lane along which the vehicle travels on the basis of the first and second small areas found by the first processing function,
• wherein the high-luminance pixels with a luminance equal to or higher than a light threshold value have a higher luminance than a first luminance of the road surface image, and the low-luminance pixels with a luminance equal to or lower than a dark threshold value have a lower luminance than a second luminance of the road surface image,
• wherein the eligibility conditions are those on the size, the size and shape, the size and arrangement, or the size, shape, and arrangement in the road surface image.