| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique for accurately recognizing a branch road.SOLUTION: A branch road determination unit 25 calculates likelihood (integrated likelihood) obtained by integrating likelihood obtained by any one characteristic or likelihood obtained by two or more characteristics among the following characteristics (1)-(5) which are characteristics related to a white line selected by a control target white line selection processing unit 24: (1) a lane is not a composite line; (2) the lane is a real line; (3) the lane is not a sharp curve; (4) variation of parallel of right and left lanes is larger than a set value; and (5) a variation amount of curvature of the lane is larger than a set value. Then based on the calculated likelihood, presence/absence of a branch road is determined, so that a determination error of the branch road is suppressed, and the branch road can be accurately recognized. |
