DEVICE FOR DETECTING/JUDGING ROAD BOUNDARY

摘要

Provided is a device for detecting/judging a road boundary, which is resistant to environmental change and can detect even a distant road boundary demarcated by a three-dimensional object. The device for detecting/judging a road boundary is provided with an image acquiring unit comprising two or more cameras for imaging a road region, a distance data acquiring unit for acquiring three-dimensional distance information relating to the imaged region on the basis of an image acquired by the image acquiring unit, a road boundary detecting unit for detecting a road boundary by detecting the height of a three-dimensional object that exists in the road region on the basis of the three-dimensional distance information acquired by the distance data acquiring unit, and a same boundary judging unit for converting the images of a first road region in which the height of the three-dimensional object corresponding to the road boundary can be detected and a second road region in which the height of the three-dimensional object corresponding to the road boundary cannot be detected and judging whether or not the three-dimensional object corresponding to the boundary of the first road region and the three-dimensional object corresponding to the boundary of the second road region are the same.  When the three-dimensional objects corresponding to the boundaries of the first and second road regions are judged to be the same, the second road region is reset as the first road region.