Lane boundary line recognition device and computer-readable storage medium storing program of recognizing lane boundary lines on roadway

摘要

An in-vehicle camera obtains image frames of a scene surrounding an own vehicle on a roadway. An extracting section in a lane boundary line recognition device extracts white line candidates from the image frames. The white line candidates indicate a degree of probability of white lines on an own vehicle lane on the roadway and a white line of a branch road which branches from the roadway. A branch judgment section calculates a likelihood of the white line as the white line of the branch road, and judges whether or not the white line candidate is the white line of the branch road based on the calculated likelihood. The branch judgment section decreases the calculated likelihood when a recognizable distance of the lane boundary line candidate monotonically decreases in a predetermined number of the image frames.