MOVABLE SURFACE BOUNDARY LINE RECOGNITION DEVICE, MOVABLE BODY HAVING MOVABLE SURFACE BOUNDARY LINE RECOGNITION DEVICE, MOVABLE SURFACE BOUNDARY LINE RECOGNITION METHOD, AND MOVABLE SURFACE BOUNDARY LINE RECOGNITION PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a movable surface boundary line recognition device in which a displacement between a boundary line image and a boundary line image part of a recognition result can be made small so as to improve a recognition accuracy of a boundary line on a movable surface.;SOLUTION: An image acquired by imaging means is set in a first recognition candidate area in an image area in which a road surface in a vicinity of an own vehicle appears on the basis of a parallax image acquired by the imaging means, and is set in a second recognition candidate area in an image area in which a road surface remote from the own vehicle appears. Then, in the first recognition candidate area, a white line image part is recognized by means of linear approximation; and in the second recognition candidate area, when the white line image part in a straight line is not recognized, an edge in a luminance image in a search range, which is set on the basis of a virtual extension line of the white line image part of a straight line recognized by means of linear approximation, is extracted. The white line image part of a curved line on an image is recognized by performing curved line approximation to the extracted edge.;COPYRIGHT: (C)2014,JPO&INPIT