VEHICLE LANE RECOGNITION DEVICE, DRIVE SUPPORT DEVICE, VEHICLE LANE RECOGNITION METHOD AND VEHICLE LANE RECOGNITION PROGRAM

摘要

PROBLEM TO BE SOLVED: To enable accurate recognition of a self-vehicle driving lane.SOLUTION: A first vehicle lane recognition device 11A comprises: a vehicle lane information acquisition unit 33 that acquires information on a self-vehicle driving lane 40 on the basis of an image in an advance direction of a vehicle 10 to be captured by an imaging device 17; a target information acquisition unit 31 that acquires information on a still target 43 present along the self-vehicle driving lane 40 on the basis of information on a target in the advance direction of the vehicle 10 to be acquired by a monitoring device 15; and a first vehicle lane recognition unit 35A that recognizes a self-vehicle driving lane 41b on the basis of the information on the still target 43 to be acquired by the target information acquisition unit 31 and the information on the self-vehicle driving lane 40 to be acquired by the vehicle lane information acquisition unit 33. The first vehicle lane recognition unit 35A determines correctness of a provisional self-vehicle driving lane 41a on the basis of a collation result of a relative positional relation of the provisional self-vehicle driving lane 41a to the still target 43, and recognizes a correct self-vehicle driving lane 41b on the basis of a determination result pertaining to the correctness.