BOUNDARY LINE RECOGNITION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a boundary line recognition device capable of recognizing a boundary line correctly.SOLUTION: A boundary line recognition device comprises: image acquisition means (3) for acquiring an image of a range including a road (105) in front of its own vehicle (101); edge point extraction means (7) for extracting an edge point in the image; solid object detection means (3, 5, 7) for detecting a solid object (201); area setting means (7) for setting an area (M1, M2) corresponding to the solid object; certainty factor calculation means (7) for calculating certainty factor of the edge point so that it becomes lower in the area than outside of the area; and boundary line recognition means (7) for recognizing a boundary line by using the edge point selected based on the certainty factor. The area setting means reduces more the area in its lower part when following conditions (J1)-(J3) are satisfied, than other cases: (J1) the solid object exists in a lane (205) same with that of its own vehicle; (J2) width (W) of the solid object is equal to or less than a predetermined value; and (J3) distance (D) between the solid object and its own vehicle is equal to or less than a predetermined value.