| 摘要 |
PROBLEM TO BE SOLVED: To provide a run lane recognition device, capable of removing misrecognition of road shapes due to the misdetection of a lane marker candidate point. SOLUTION: The device has an imaging part 101 for imaging a road scene surrounding a vehicle, a lane marker detection part 104 for detecting a coordinate values on an imaged surface captured by the imaging part concerning the candidate points of a plurality of lane markers, a road model parameter calculating part 105 for calculating road model parameters, based on the coordinate value of the lane marker detected by the lane marker detecting part, a deviation calculation part 106 for calculating the deviation between the lane marker candidate point and a predictive candidate point predicted from the road model parameters, and a propriety judging part 107 for judging whether the imaged picture is a picture where the lane marker can be detected or not based on the result of deviation calculation calculated by the deviation calculation part 106. |
