CURBSTONE DETECTION DEVICE AND CURBSTONE DETECTION PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a curbstone detection device that detects curbstones with a simple configuration.SOLUTION: A curbstone detection device takes line segments detected by a curbstone candidate extraction unit 13 from a photographed image of a peripheral environment of its own vehicle as curbstone candidates; extracts a curbstone in a shape having an inclined part on an upper side or a lower side (inclined curbstone) that is present in a specific place of a road (for example, around an intersection) with an inclined curbstone extraction unit 15; and detects a candidate that has curbstone probability that is calculated based on a distance between the inclined curbstone and the curbstone candidate and an angle formed by the inclined curbstone and the curbstone candidate exceeding a predetermined value as a curbstone.