Patent ID: 9665779
Date: 2017-05-30
CPC Classifications: B60R,G06K,G06T,G07B,G08G

Claim:
1. A boundary line detecting device that is mounted in a vehicle and detects a boundary line demarcating the inside and outside of a cruising area in which an own vehicle is traveling, the boundary line detecting device comprising: an image acquiring unit that acquires an image of a road surface on the left and right ahead of the own vehicle; a paint line detecting unit that detects a paint line drawn on the road surface within the image acquired by the image acquiring unit; a virtual line setting unit that sets a virtual line based on a position of a previously detected boundary line; a boundary line setting unit that sets the boundary line using at least either of the paint line and the virtual line; and a setting prohibiting unit that prohibits setting of the virtual line as the boundary line when approach information is acquired that indicates that the own vehicle is approaching a toll booth.