LANE RECOGNITION DEVICE, LANE RECOGNITION METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To recognize stably a lane where a vehicle runs.SOLUTION: A measurement portion 11 measures its own position in real space. An imaging portion 12 picks up an image of space in a travel direction of a vehicle. A specification portion 13 specifies a position of a boarder line on the picked up image acquired by the imaging portion 12. A calculation portion 14 calculates a position of the boarder line in the real space on the basis of the position measured by the measurement portion 11 and the position specified by the specification portion 13 when the specification of the position by the specification portion 13 succeeds. A recordation portion 15 stores information showing the position calculated by the calculation portion 14 in a storage portion 16. A recognition portion 17 recognizes a lane on the basis of the position specified by the specification portion 13 when the specification of the position by the specification portion 13 succeeds, and recognizes the lane on the basis of the position measured by the measurement portion 11 and the position shown by the information stored in the storage portion 16 when the specification of the position by the specification portion 13 does not succeed.