| 摘要 |
PROBLEM TO BE SOLVED: To calculate a relative lateral position of an own vehicle to a lane marker in a case that a branch lane or a confluent lane is included in a road where the own vehicle is traveling.SOLUTION: An own vehicle position recognition device 100 calculates a first relative lateral position of the own vehicle to a first lane marker which is detected when an evaluation value calculated by comparing a first evaluation value which is calculated by a lane marker detection function for detecting a first lane marker for dividing a first travel lane where the own vehicle is traveling, and a second lane marker adjacent to the first travel lane on the basis of an image of a camera 20 mounted on the own vehicle, and a first road parameter of the first lane marker, and a second evaluation value calculated by a second road parameter of a second lane marker. When the evaluation comparison value is equal to or more than a first predetermined threshold, the device calculates a second relative lateral position of the own vehicle to the second lane marker. |
