LANE-MARKING DETECTION DEVICE AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a lane-marking detection device and a program, which are capable of reducing false detection of a lane-marking on a rutted snowy road.SOLUTION: A lane-marking detection device acquires a low-luminance value from areas below a tire and immediately below a vehicle center on the basis of a road surface image (S2); calculates a snow rut level which is a luminance ratio between a luminance of an area immediately below the vehicle center and a luminance of an area below the tire (S3); calculates likelihood from a map on the basis of the calculated snow rut level (S4); calculates a parameter showing a degree of snow rut likelihood by low-pass filtering, compares with a predetermined threshold and determines a snow rut (S5); acquires an outdoor temperature (S6); finally determines whether there is a snow rut, as described above, with reference to the outdoor temperature (S8); and determines that no lane-marking detection will be performed when the presence of the snow rut is determined, or determines that lane-marking detection will be performed when the absence of snow rut is determined.