| 摘要 |
PROBLEM TO BE SOLVED: To recognize a relative lateral position of an own vehicle even when a lane marker pair of an own vehicle travel lane cannot be detected.SOLUTION: An own vehicle position recognition device 100 comprises a control device 10 performing: a lane marker detection function for detecting a left and right pair of first lane markers for dividing a first travel lane where the own vehicle is traveling and a left and right pair of second lane markers respectively dividing the travel lane on the basis of an imaged image; a distance range setting function for setting a predetermined distance range corresponding to distance between the first lane markers; and an own vehicle relative lateral position calculation function which, when the first lane markers are detected in the distance range, calculates the first relative lateral position of the own vehicle to the first lane markers, and when the first lane markers are not detected in the predetermined distance range, calculates the second relative lateral position of the own vehicle to the second lane markers existing in a position corresponding to the position of the first lane markers. |
