ROAD SHAPE DETERMINING DEVICE, IN-VEHICLE IMAGE RECOGNIZING DEVICE, IMAGING AXIS ADJUSTING DEVICE, AND LANE RECOGNIZING METHOD

摘要

An imaging angle of an imaging unit disposed in a vehicle is estimated with a less computational load. An in-vehicle image recognizing device disposed in a vehicle recognizes a lane shape of a traveling lane in which the vehicle travels based on an image captured by a camera capturing an image of a traveling road around the vehicle. An imaging angle of the camera is calculated based on the recognized lane shape. It is determined whether or not there is a bias in the recognized lane shape, and the imaging angle of the camera is corrected using the imaging angle when it is determined that there is no bias.