BLOCK LINE RECOGNITION DEVICE

摘要

PROBLEM TO BE SOLVED: To accurately recognize a block line having a special color which is different from a color usually used.SOLUTION: A block line recognition device recognizes a block line on the basis of a gray scale image acquired by converting a road surface image picked up by a camera. When an own vehicle enters a provisional two-lane road where a yellow block line (yellow line) is used (S105:Yes), the recognition accuracy of a yellow line is enhanced (S115). Concretely, in consideration of higher brightness of R in such a yellow line area in a road surface image, the device converts the surface road image into a gray scale image in a state in which the brightness of R is weighed and reduces an edge threshold in extraction of an edge point so as to allow a yellow line to be easily extracted, which improves the recognition accuracy of the yellow line.