| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane marking detecting device which detects a lane marking with high accuracy, from a captured image, which is a borderline between cruising lanes where a vehicle travels. SOLUTION: When detecting a lane marking, a lane departure warning device calculates likelihood which represents possibility that each lane marking candidate is a lane marking for each lane marking candidate representing a plurality of edge components arranged along the travelling direction of a vehicle from a captured image, based on a shape of each lane marking candidate (S320). Then, the lane departure warning device changes the likelihood corresponding to a lane marking candidate which is located near a preceding vehicle to a higher value (S330, S340), and identifies a lane marking candidate corresponding to the highest likelihood as a lane marking (S380). Accordingly, a lane marking is detected with high accuracy because a lane marking is detected by considering the location of the preceding vehicle. COPYRIGHT: (C)2010,JPO&INPIT
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