LANE BOUNDARY LINE RECOGNITION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a lane boundary line recognition device capable of suppressing a recognition error of a lane boundary line.SOLUTION: A lane boundary line recognition device (1) comprises: an image acquisition unit (3) for acquiring an image; an edge point extraction unit (5) for extracting an edge point from the image; a lane boundary line candidate extraction unit (7) for extracting a lane boundary line candidate based on the edge point; a lane boundary line likelihood calculation unit (9) for calculating lane boundary line likelihood of the lane boundary line candidate; a lane boundary line recognition unit (11) for recognizing the lane boundary line candidate whose lane boundary line likelihood exceeds a threshold; a three-dimensional object recognition unit (13) for recognizing a three-dimensional object; a block detection unit (15) for detecting block of the lane boundary line by the three-dimensional object; and a lane boundary line likelihood correction unit (21) for, when the block is detected, suppressing the lane boundary line likelihood on at least a partial area which is outside of the blocked lane boundary line.SELECTED DRAWING: Figure 1