| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane recognizing device, and a program for recognizing a vehicle and lane capable of shortening a period in which recognition of a relative position of the vehicle and a lane mark is inhibited while securing reliability of lane mark detection. SOLUTION: The lane recognizing device comprises a lane mark position recognizing means 13, and a reliability restoration determination value setting means 12. The lane mark position recognizing means 13 cancels recognition of the relative position when a first lane mark detection rate as an average detection rate of lane marks by a lane mark detection means 11 in a plurality of predetermined immediate cycles is not more than a reliability degradation determination value, and then, restarts the recognition of the relative position when the first lane mark detection rate reaches more than a reliability restoration determination value higher than the reliability degradation determination value. The reliability restoration determination value setting means 12 sets the reliability restoration determination value depending on a form of a change of a local detection rate of the lane mark by the lane mark detection means 11 in the plurality of the predetermined immediate cycles when the first lane mark detection rate drops to not more than the reliability degradation determination value. COPYRIGHT: (C)2009,JPO&INPIT
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