TRAVEL PATH DEMARCATING COMPARTMENT LINE DETECTOR

摘要

PROBLEM TO BE SOLVED: To provide a travel path demarcating compartment line detector capable of suppressing fault detection.SOLUTION: A travel path demarcating compartment line detector comprises: a white line demarcation selector 35 detecting travel path demarcations on a road surface on the basis of information on an image picked up by a camera 15; and a travel path parameter re-estimation unit 37 searching a travel path demarcating compartment line on the road surface on the opposite side on the basis of a position of the travel path demarcation on one side out of the travel path demarcations on both sides of a vehicle. The travel path parameter re-estimation unit 37 sets a plurality of search lines on the basis of shape information on the travel path demarcation on one side, compares search-line luminance information on the plurality of search lines, and determines whether there is a search line at the highest probability as a search line that can be used as a travel path demarcating compartment line candidate. If it is determined that there is such a search line at the highest probability, the search line is selected as the travel path demarcating compartment line candidate. If it is not determined that there is such a search line at the highest probability, none of the plurality of search lines are selected as travel path demarcating compartment line candidates.