| 摘要 |
PROBLEM TO BE SOLVED: To provide a branch recognizing device for recognizing the branch of a road more correctly. SOLUTION: A road surface picture in front of a vehicle is acquired, white lines 71 and 72 displayed on the road surface and boundary lines with the road surface are detected from a photographed picture in specified search areas LL, LR, RL and RR and the branch of the road is judged by the change of correlative position relation in the detected boundary lines XLL and XLR. For example, the branch is judged by detecting that the boundary lines XLL and XLR at the both sides of the left white line are separated from each other. |
