| 摘要 |
PROBLEM TO BE SOLVED: To provide a running lane recognition device and a running lane recognition method that can appropriately recognize a running lane even in a state where entirety of a plurality of lanes is not shown in a photographing image.SOLUTION: On the basis of lane marks present at a left and right of a vehicle detected from a photographing image, coordinates of center lines of roads stored in map data and the number of lanes of the roads, and information on an attachment position of a satellite positioning receiver 2b and satellite positioning error range stored in a system memory 9, a coordinate range is estimated for each lane that has a possibility of satellite positioning. A coordinate acquired by the satellite positioning of the satellite positioning receiver 2b determines a running lane of the vehicle on the basis of a range to which the satellite positioning range estimated for each lane belongs . Thus, even when the entirety of the plurality of lanes is not shown in the photographing image, the running lane can be identified by detecting at least the lane marks present at the left and right of the vehicle from the photographing image. |
