| 摘要 |
PROBLEM TO BE SOLVED: To provide a travel zone line recognition device capable of accurately determining a branch road, even when a vehicle comes across the branch road suddenly.SOLUTION: A travel zone line recognition device comprises: extraction means 30 for extracting zone line candidates being candidates of a road zone line on the basis of images of the road around a vehicle imaged by an on-vehicle camera 10 for every frame; and branch determination means 40 for calculating a certainty factor that one of the zone line candidates extracted by the extraction means 30 is the zone line of a branch road, and for determining whether or not, the zone line candidate is the zone line of the branch road on the basis of the calculated certainty factor. The branch determination means 40 increases the certainty factor of the zone line candidate in which a recognition distance L being a distance to a farthest end which can be recognized, is decreased monotonously, among the zone line candidates extracted by the extraction means 30, in a predetermined frame number of images.SELECTED DRAWING: Figure 1 |
