LANE BOUNDARY LINE RECOGNITION APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a lane boundary line recognition apparatus capable of suppressing fault recognition of a lane boundary line.SOLUTION: Provided is a lane boundary line recognition apparatus (1) comprising: an image acquisition unit (3); an edge-point extraction unit (5) extracting edge points from an image; a lane-boundary-line-candidate extraction unit (7) extracting lane boundary line candidates on the basis of the edge points; a lane-boundary-line-likelihood calculation unit (9) calculating a lane boundary line likelihood; a lane-boundary-line recognition unit (11) recognizing the lane boundary line candidate having the lane boundary line likelihood exceeding a threshold as a lane boundary line; and a threshold setting unit (13) setting a threshold TH greater than a normal threshold TN as a threshold when the following condition A is satisfied and then the following condition B is satisfied. Condition A: to recognize a composite lane boundary line on a side opposite to a roadside side. Condition B: to continue a situation where the lane boundary line cannot be recognized continues for predetermined time at least on the opposite side.SELECTED DRAWING: Figure 1