| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an image recognizing device capable of recognizing lane states of a plurality of lanes. <P>SOLUTION: The image recognizing device 1 is provided with a camera 10, a parameter candidate acquisition part 21 for obtaining a probability distribution of road parameters having multicrestedness on the basis of image data picked up by the camera 10, and a lane state recognition part 30 for recognizing a lane state on the basis of the probability distribution of the road parameters. The lane state recognition part 30 has a region dividing part 31 for dividing the probability distribution of the road parameters into a plurality of regions and a parameter value operating part 32 for operating a road parameter value on the basis of a probability distribution in a divided region and recognizes the lane configuration of a traveling road, the number of lanes and the lane state such as lane merging/branching on the basis of a region where a mountain of the probability distribution exists and the road parameter value. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
