Road boundary line recognition device and road boundary line recognition method

摘要

PROBLEM TO BE SOLVED: To reduce the possibility of mistaking boundary line candidates markedly deviating from a real boundary line as boundary lines even when the real boundary line cannot be extracted as a boundary line candidate.SOLUTION: A virtual boundary line candidate V2 lying along the real boundary line candidate R2 of an n-th picked-up image Fnwithout duplication is set by a virtual boundary line candidate setting unit. Where a position predicting unit supposes that the virtual boundary line candidate V2 and the like to be boundary lines, an n-th picked-up image of an n-th marker M (Tn) recognized by a predicted position m(Tn) of the n-th picked-up image Fnand the like are predicted, and a boundary line recognizing unit recognizes some of the virtual boundary line candidate V2 and the like as the boundary line B on the basis of comparison of a predicted position m(Tn) of the n-th marker M (Tn) and an extracted position M(Tn) of the n-th marker M(Tn) extracted from the n-th picked-up image.SELECTED DRAWING: Figure 8