Vehicle environment recognizing apparatus

摘要

A vehicle environment recognizing apparatus comprises an image capturing device (100), a road shape calculating section (310) and a straight road determining section (410). The image capturing device is configured to capture an image of a road on which a vehicle is traveling. The road shape calculating section is configured to calculate approximation lines (Rf) that approximate a shape of the road in at two least regions that are located at different distances in front of the vehicle based on image data captured by the image capturing device. The straight road determining section is configured to determine whether the road on which the vehicle is traveling is straight based on a degree to which the approximation lines of the regions calculated by the road shape calculating section match one another.