VEHICULAR EXTERNAL ENVIRONMENT SENSING DEVICE, AND AXIAL SHIFT CORRECTION PROGRAM AND METHOD THEREFOR

PROBLEM TO BE SOLVED: To provide a drive support device capable of correcting an axial shift correctly.SOLUTION: A drive support device 1 includes: a lane recognition part 311 for recognizing at least two lanes from a pickup image; a shift angle calculation part 32 for calculating a shift angle from at least two lanes; an obstacle recognition part 313 for recognizing a position of the obstacle from the pickup image; a camera shift angle correction part 34 for correcting, by the shift angle, the position of the obstacle recognized by the obstacle recognition part 313; a radar shift angle correction part 35 for correcting, by a shift angle , a position of the obstacle detected by a radar; and a drive support process part 4 for performing drive support processing on the basis of the post-correction position of the obstacle. 【課題】本発明は、軸ズレを正確に補正できる運転支援装置を提供する。【解決手段】運転支援装置１は、撮影画像から少なくとも２本の車線を認識する車線認識部３１１と、少なくとも２本の車線からズレ角を算出するズレ角算出部３２と、撮影画像から障害物の位置を認識する障害物認識部３１３と、障害物認識部３１３で認識された障害物の位置をズレ角だけ補正させるカメラズレ角補正部３４と、レーダで検知された障害物の位置をズレ角 だけ補正させるレーダズレ角補正部３５と、補正後の障害物の位置に基づいて、運転支援処理を行う運転支援処理部４とを備える。【選択図】図３