Patent Document ID: 9690994
Application ID: 14666388
Patent Status: 1

Claim One:
1. A lane recognition device comprising: an edge point extracting unit which extracts edge points whose luminance difference from a surrounding portion is equal to or more than a predetermined level from an image captured by a camera mounted in a vehicle; a demarcation line candidate recognizing unit which recognizes demarcation line candidates which are candidates for a pair of right and left demarcation lines demarcating a lane based on the edge points having predetermined continuity; and a demarcation line candidate modifying unit which excludes edge points whose corresponding positions in a real space are a predetermined distance or more away from the camera in a traveling direction of the vehicle in a case where parallelism between the pair of right and left demarcation line candidates recognized by the demarcation line candidate recognizing unit is equal to or less than a predetermined level and re-recognizes the pair of right and left demarcation line candidates based on a first edge point sequence having the predetermined continuity among the edge points which were not excluded, wherein in the case where the parallelism between the pair of right and left demarcation line candidates recognized by the demarcation line candidate recognizing unit is the predetermined level or less, and when a second edge point sequence, having predetermined continuity to the first edge point sequence, begins to be detected at the predetermined distance or more away, the demarcation line candidate modifying unit recognizes the demarcation line candidate by joining both of the first and second edge point sequences together.