Image processing apparatus and method

(57) In the processing for identifying this direction of the line of a summary image, the pixel of this line on which a histogram is projected on an axis is formed. And this axis is rotated, this line of this histogram is near, and this pixel on which a histogram is projected on this rotated axis is formed until it includes the characteristic which shows the perpendicular thing to this rotated axis. This road of this image with which the image of the processing which detects the line on a road has the characteristic corresponding to the characteristic of this line, and a pixel are caught -- thing selection is made. This selected pixel on which A histogram is projected on an axis is formed. The histogram by which this axis is rotated and this selected pixel projected to this histogram is formed in up to this rotated axis includes the characteristic of expressing a line. The left And the processing which detects the lane on the road which has the righ side line, The pixel of this image of the 1st area of this image in the 2nd direction and 1st pixel of area of this image in the 2nd direction of this image is chosen in order to choose the pixel relevant to this line. This axis is rotated until each which a histogram projects on these 1st and 2nd axes, and is formed, and each histogram include the characteristic of a line. Moreover, the interface between the system by which the processing which detects the vehicles of an adjoining lane identifies the system, object, and input signal to indicate, and which perform this above-mentioned processing, an image processing system, and a controller.