Patent ID: 8477999

Claim:
A lane-dividing line detection device that has pickup means for picking up a road surface around a vehicle and characteristic point extraction means for extracting a part where a predetermined parameter meets a reference from an image picked up by the pickup means as a characteristic point representing a lane-dividing line on the road surface and detects the lane-dividing line drawn on a road based on the characteristic point extracted by the characteristic point extraction means, the lane-dividing line detection device comprising: candidate line generation means for generating a candidate line for the lane-dividing line based on the characteristic point extracted by the characteristic point extraction means; reference change means for changing the reference on the predetermined parameter used when the characteristic point extraction means extracts the characteristic point from the image so as to facilitate an extraction of the characteristic point when the number of the candidate lines generated by the candidate line generation means does not reach a predetermined number; and predetermined number change means for changing the predetermined number in accordance with a number of the lane-dividing lines drawn on one side of the road.