| 摘要 |
A diagrammatizing apparatus (20) for vehicle lane detection which detects at least two lines of boundary lines of the sign lines (5L, 5R) or the boundary lines of a vehicle lane (4) on the road surface from a picked-up image of the road surface, includes a first boundary line extracting unit that selects a longest line (L0) as a first boundary line from a first line group consisting of plurality of lines (L0), La, Lb which intersect with each other in the image, and a second boundary line extracting unit that selects a longest line (L10) as a second boundary line from a second line group consisting of a plurality of lines (L10, Lc, Ld) which intersect with each other in the image.
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