BOUNDARY DETECTION DEVICE FOR VEHICLES

摘要

In a lane boundary detection device, a plurality of edge components are extracted from a captured image capturing the periphery of the own vehicle. Candidates of a curve (including straight lines) that is to be the boundary of a driving area are extracted as boundary candidates based on the placement of the plurality of edge components. Then, an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image is calculated. Boundary candidates of which the formed angle is less than an angle reference value are set to have low probability. The boundary candidate having the highest probability among the boundary candidates is set as the boundary of the driving area.