| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane recognition apparatus capable of improving accuracy in detecting a lane.SOLUTION: A lane recognition apparatus includes: an edge extraction part 303 for generating an overhead view image from an image picked up by a vehicle-incorporated camera 202 and extracting an edge from the overhead view image; an edge coordinate retention part 305 for storing a coordinate of the extracted edge contained in the image; an edge evaluation part 306 for evaluating a likelihood of the extracted edge being a lane; an edge coordinate update part 308 for updating the coordinate of the edge in accordance with a movement amount provided by a vehicle speed sensor 307; an edge likelihood disposition correction part 310 for selecting an edge from among edges stored in the edge coordinate retention part 305 so that distribution of the likelihood of lane is minimized; and a position-attitude estimation part 312 for estimating a lane on the basis of the selected edge. |
