ROAD FEATURE RECOGNITION METHOD, ROAD FEATURE RECOGNITION APPARATUS, PROGRAM, AND RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide a technique for improving the accuracy of recognition in road feature recognition using a radar and a camera.SOLUTION: In a road feature recognition apparatus 1, a left-right feature recognition part 21 connected to an on-vehicle radar 2 recognizes a road-edge feature in left and right sides of a vehicle itself from a position of a road-side article detected based on detection information by the on-vehicle radar 2. Further, a left-right feature recognition part 31 connected to an on-vehicle camera 3 recognizes a lane feature that is a feature of a lane boundary on each of left and right sides of the vehicle itself from a position of lane boundary line (e.g., a white line) detected based on a pickup image of the on-vehicle camera 3. Then a road feature identification part 50 compares (namely, determines whether a degree of identicalness is high for each of left and right), for each of left and right, between the road edge feature recognized by the left-right feature recognition part 21 and the lane feature recognized by the left-right feature recognition part 31, and identifies a feature of the road that the vehicle is travelling on, using different methods in accordance with the degree of identicalness for each of the left and right.