LANE LINE DETECTOR AND LANE LINE DETECTION METHOD

摘要

PROBLEM TO BE SOLVED: To suppress reduction in detection accuracy of a lane line even when a sunny area and an area shaded by an object other than the own vehicle are mixed on a road surface around the vehicle.SOLUTION: The lane line detector analyzes an image of the road surface around the vehicle, detects candidates (70-72) of the lane line disposed on the road surface, and controls the behavior of the vehicle to overlay the border line of the shade 60 of the vehicle on the candidates (70-72) of the lane line. Then, when the border line of the shade 60 of the vehicle is overlaid on the candidates (70-72) of the lane line and hence the candidates (70-72) of the lane line cannot be detected, the lane line detector determines the candidates (70-72) of the lane line to be the border line of the shade.