| 摘要 |
PROBLEM TO BE SOLVED: To provide an in-vehicle environment recognition device for executing a plurality of applications in accordance with an environment by appropriately recognizing an environment outside a vehicle.SOLUTION: An in-vehicle environment recognition device 10 is configured to recognize lane marks 22, 23, 32 and 42 for partitioning lanes from an image, and to, on the basis of the lane marks 22, 23, 32 and 42, set out-of-route determination areas RoR and RoL at one of the right and left parts of a self-vehicle traveling lane 21, and to determine whether the out-of-route determination areas RoR and RoL are on neighboring lanes 31 and 41 or out of the route, and to, when it is determined that the out-of-route determination areas RoR and RoL are out of the route, analyze the classification of the out-of-route. |
