Patent Document ID: 20130272577
Application ID: 13992819
Patent Status: 0

Claim One:
1. A lane recognition device which recognizes a lane on the basis of a captured image of a view ahead of a vehicle obtained by an imaging device, comprising: a linear element extraction image generating unit which generates a linear element extraction image into which linear elements included in the captured image have been extracted; an area setting unit which sets a lane extraction area in a predetermined range in a vertical direction in the linear element extraction image; a local straight line determining unit which determines a local straight line of each local area on the basis of a linear element part in each local area with respect to each local area in the lane extraction area; an intersection calculating unit which calculates an intersection of each local straight line and a reference horizontal line at a predetermined position in a vertical direction; a voting unit which votes on a direction and an intersection of each local straight line in a voting space having a direction and an intersection as coordinate components; a detecting unit which detects a detection straight line on the basis of a voting result in the voting space; and a recognizing unit which recognizes a lane boundary line based on the detection straight line.