| 摘要 |
PROBLEM TO BE SOLVED: To enable high accuracy recognition of a level difference image section such as a curb and a median strip present in the side section of the travel lane of a self vehicle, even in a situation where a lane boundary line image section cannot be recognized.SOLUTION: A level difference recognition apparatus includes: a level difference recognition processor 148 for executing a level difference recognition process for extracting an image candidate section of a level difference present in a travel lane side section of a self-vehicle from a picked-up image picked up by imaging sections 110A and 110B and recognizing, as level difference image sections EL and CL, image candidate sections of the level difference selected from among the extracted image candidate section of the level difference on the basis of a relative positional relationship with a white-line image section WL recognized by a white-line recognition process section 149; and memory 130 for storing positional information of a white-line image section recognized in the past. Further, when a while-line image section is not recognized, an image candidate section of a level difference selected on the basis of the positional information of an immediate past white-line image section stored in the memory is recognized as a level difference image section. |
