| 摘要 |
PROBLEM TO BE SOLVED: To provide a movable surface boundary line recognition device in which a displacement between a boundary line image and a boundary line image part of a recognition result can be made small so as to improve a recognition accuracy of a boundary line on a movable surface.SOLUTION: An image acquired by imaging means is set in a first recognition candidate area in an image area in which a road surface in a vicinity of an own vehicle appears on the basis of a parallax image acquired by the imaging means, and is set in a second recognition candidate area in an image area in which a road surface remote from the own vehicle appears. Then, in the first recognition candidate area, a white line image part is recognized by means of linear approximation; and in the second recognition candidate area, when the white line image part in a straight line is not recognized, an edge in a luminance image in a search range, which is set on the basis of a virtual extension line of the white line image part of a straight line recognized by means of linear approximation, is extracted. The white line image part of a curved line on an image is recognized by performing curved line approximation to the extracted edge. |
