LANE RECOGNITION DEVICE, LANE RECOGNITION METHOD, AND LANE RECOGNITION PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a lane recognition device for suppressing noise easy to occur in an original image and a bird's-eye image to improve recognition accuracy of a lane.

SOLUTION: The lane recognition device 10 has: a composite bird's-eye image creation means 130 generating a composite bird's-eye image based on the original images in a plurality of different pieces of time; a partitioning line candidate detection means 120 detecting a lane partitioning line candidate from the original image; and a partitioning line candidate examination means 140 examining whether or not the lane partitioning line candidate is suitable as a partitioning line in the composite bird's-eye image. The other lane recognition device 11 has: a bird's-eye image creation means 1020 creating the bird's-eye image from the original image; a composite bird's-eye image creation means 1030 generating the composite bird's-eye image based on the original images in the plurality of different pieces of time; a second composite bird's-eye image creation means 1040 creating a second composite bird's-eye image based on the bird's-eye image and the composite bird's-eye image; and a partitioning line candidate detection means 1050 detecting a position of line that is a candidate of a lane partitioning line from the second composite bird's-eye image.

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