PROBLEM TO BE SOLVED: To provide a straight-traveling guide system for a mobile vehicle, mitigating the burden on a relevant steering operator and enabling even an unskilled operator to make an operation in high efficiency and in high accuracy.SOLUTION: The straight-traveling guide system for a mobile vehicle comprises a mobile vehicle-loaded section 1 and a distant target section 2 installed on the extension line in front of a traveling path through which the mobile vehicle is to travel straight. In the system, the mobile vehicle-loaded section 1 comprises a camera section 11, an image-processing section 12 to process images given from the camera section 11 and output traveling information, and a vehicle control section 14 and a steering control mechanism 15 to make a control of the mobile vehicle based on the above traveling information the distant target section 2 repeats lightings and lighting-outs over the total time or longer of the image pick-up period and the maximum exposure time of the camera section 11 but twice or less of the image pick-up period and the image-processing section 12 works as follows: In the present frame and the previous frame and, the present frame and the before previous frame, first and second distant target candidate picture elements are extracted, and then integrated together, and the position of the distant target section 2 is detected for the integrated distant target candidate picture elements, and based on the detection result, traveling information is produced.COPYRIGHT: (C)2009,JPO&INPIT【課題】運転者の負担を軽減し、熟練者でなくても高能率・高精度な作業ができる移動車両の直進誘導システムを提供する。【解決手段】この移動車両の直進誘導システムは、移動車両搭載部1、移動車両が直進走行すべき走路前方の延長線上に設置される遠方目標部2を備える。移動車両搭載部1はカメラ部11、カメラ部11からの画像を処理し走行情報を出力する画像処理部12、走行情報に基づき移動車両を制御する車両制御部14,操向制御機構15を有する。遠方目標部2はカメラ部11の撮像周期と最大露光時間の合計時間以上で撮像周期の2倍以下の時間の点灯と消灯とを繰り返す。画像処理部12は現フレームと前フレーム及び、現フレームと前々フレームにおいて第1,第2の遠方目標部候補画素を抽出し、第1,第2の遠方目標部候補画素を統合し、統合した遠方目標部候補画素に対し遠方目標部2の位置検出を行い、検出結果に基づき走行情報を生成する。【選択図】図1
