| 摘要 |
PROBLEM TO BE SOLVED: To provide a white road line recognition device capable of recognizing a white road line accurately by setting thresholds for recognizing the white road line in consideration of a road surface area and a white road line area in plural windows provided on a road image for searching for the white road line. SOLUTION: The plural windows 20 for searching for the white road line 18 are provided on the road image acquired by an image acquisition means 14, and candidate points 21 of the white road line 18 are recognized by the thresholds vn set on each window 20 respectively, and a road model is estimated from the assembly of the white line candidate points 21. The area of the white road line 18 supposed to occupy inside the next window 20 from a preceding road model estimation value in repeated white road line recognition is estimated. The thresholds vn are set so that the area of pixels having brightness equal to or higher than the threshold vn becomes equal to or larger than the area of the white road line 18 estimated by a road area estimation means 103 relative to each window 20.
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