PERIPHERY RECOGNITION DEVICE, PERIPHERY RECOGNITION METHOD, AND PROGRAM

To appropriately determine whether or not to adopt a recognition result of a road partition line by a camera via a detection result of another sensor.SOLUTION: A periphery recognition device comprises: an image analysis part for recognizing a position of a road partition line to a vehicle based on an image acquired by a camera that images the periphery of the vehicle, that is installed on the vehicle; a specification part for specifying a first extension direction as an extension direction at a target position of a linearly arranged group out of a plurality of target positions acquired by an object detection device different from the camera by setting the periphery of the vehicle as a detection range, that is installed on the vehicle; and a determination part for determining a reference runway as a reference of travel control of the vehicle, and determining the reference runway based on the road partition line recognized by the image analysis part when the first extension direction and a second extension direction as an extension direction of the road partition line recognized by the image analysis part are identical to each other.SELECTED DRAWING: Figure 2 【課題】カメラによる道路区画線の認識結果の採否を、他のセンサの検出結果によって適切に決定すること。【解決手段】車両に搭載され、前記車両の周辺を撮像するカメラによって取得された画像に基づいて、前記車両に対する道路区画線の位置を認識する画像解析部と、前記車両に搭載され、前記車両の周辺を検出範囲とし、前記カメラとは異なる物体検出装置によって取得された複数の物標位置から、線状に並ぶ一群の物標位置の延在方向である第１延在方向を特定する特定部と、前記車両の走行制御の基準とする基準走路を決定する決定部であって、前記第１延在方向と、前記画像解析部によって認識された道路区画線の延在方向である第２延在方向とが合致する場合に、前記画像解析部によって認識された道路区画線に基づいて前記基準走路を決定する決定部と、を備える周辺認識装置。【選択図】図２