Patent Document ID: 20120177250
Application ID: 13347825
Patent Status: 0

Claim One:
1. A boundary detection device that is mounted in a vehicle and detects a boundary of a driving area in which an own vehicle is traveling, the boundary detection device comprising: an edge extracting means for extracting a plurality of edge components from a captured image capturing the periphery of the own vehicle; a boundary candidate extracting means for extracting candidates of a curve, including straight lines, that is to be the boundary of the driving area as boundary candidates based on placement of the plurality of edge components; a probability setting means for calculating an angle formed by a tangent in a predetermined section of each extracted boundary candidate and a vertical line in the captured image, and setting a boundary candidate of which the formed angle is less than an angle reference value to have a low probability; and a boundary setting means for setting a boundary candidate having the highest probability among the boundary candidates as the boundary of the driving area.