| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane determining device that appropriately selects a determining process for narrowing down an own vehicle lane after a vehicle exits an unknown zone and can determine the own vehicle lane efficiently and precisely when passing the unknown zone where the own vehicle lane based on image recognition, or the like cannot be determined. SOLUTION: The lane determining device includes: a lane line form information acquisition means for acquiring lane line form information indicating the form of a lane line for dividing each lane; a driving lane determination means for recognizing the image of the lane line around an own vehicle and determining an own vehicle lane, based on the combination of the forms of the lane lines; a lane identification propriety determination means for determining whether the combination of the forms of a plurality of lane lines of a road after exiting an unclear zone is a combination capable of unitarily identifying the own vehicle lane by the drive lane determination means when there is the unclear zone; and an exit lane determination means for selecting processing for determining an exit lane from a plurality of determination processes for execution, based on a determination result by the lane identification propriety determination means. COPYRIGHT: (C)2010,JPO&INPIT |
