| 摘要 |
Provided is a lane recognition device capable of extracting linear elements derived from lane marks from a linear element extraction image obtained by processing a captured image and recognizing lane boundary lines. Local areas 47 are set for a lane extraction area 45 set in a linear element extraction image 40 that each of linear elements is included in one or a plurality of the local areas 47, having a predetermined size, and a local straight line 44 of each local area is determined (vx) and (Psi) associated with the direction and the intersection x with a predetermined reference horizontal line 46 are calculated for each local straight line 44. Each local straight line 44 is defined as one vote, being casted to (vx, Psi) of a voting space 56. Lane boundary lines are recognized from detection straight lines, whose direction and the intersection x determined based on vote results. |
