On-vehicle image processing apparatus

31140 CALCULATE CURRENT VEHICLE POSITION BY AVERAGING DISPLACEMENTS FOR ALL SCANNING LINES

I

(VEHICLE POSITION INFORMATION)

Fig.2C

S108 [S109 DETECTION OF BRANCH DETECTION OF BRANCH (LEFT SIDE OF (RIGHT SIDE OF BRANCH DETECTION BRANCH DETECTION SCANNING REGION) SCANNING REGION)

Fig.2D

S110 S111 R 1 I H DETECTION OF DETECTION OF

DEAD END AND OBSTACLE DEAD END AND OBSTACLE

(LEFT SIDE OF DEAD END (RIGHT SIDE OF DEAD END

AND OBSTACLE DETECTION AND OBSTACLE DETECTION SCANNING REGION) SCANNING REGION)