TARGET VEHICLE RECOGNITION DEVICE AND PROCESSING METHOD OF TARGET VEHICLE RECOGNITION DEVICE

To appropriately recognize a target vehicle, which is an avoidance target of steering control, from a captured image.SOLUTION: A target vehicle recognition device for recognizing a target vehicle to be avoided by steering control of the own vehicle comprises: a stopped vehicle detection unit that detects a stopped vehicle in front of the own vehicle; an image position detection unit that detects a reference axis extending in a horizontal direction of an image from a lower end of the stopped vehicle on a captured image, a left end position of the stopped vehicle projected onto the reference axis, a right end position of the stopped vehicle projected onto the reference axis, and a reference boundary line position, which is a position where at least one of two boundary lines forming a driving lane of the vehicle intersects with the reference axis; and a target vehicle recognition unit that recognizes the stopped vehicle as a target vehicle for steering control when there is a reference boundary line position sandwiched between the vehicle left end position and the vehicle right end position of the stopped vehicle, and that dose not recognize the stopped vehicle as a target vehicle for steering control when there is no reference boundary line position sandwiched between the vehicle left end position and the vehicle right end position of the stopped vehicle.SELECTED DRAWING: Figure 3 【課題】操舵制御の回避対象となる対象車両を撮像画像から適切に認識する。【解決手段】 自車両の操舵制御による回避対象となる対象車両を認識するための対象車両認識装置であって、自車両の前方の停止車両を検出する停止車両検出部と、撮像画像上で停止車両の下端から画像水平方向に延びる基準軸線、停止車両の左端を基準軸線上に投影した車両左端位置、停止車両の右端を基準軸線上に投影した車両右端位置、及び自車両の走行レーンを形成する二本の境界線のうち少なくとも一方と基準軸線とが交差する位置である基準境界線位置を検出する画像位置検出部と、停止車両の車両左端位置及び車両右端位置に挟まれた基準境界線位置が存在する場合には停止車両を操舵制御の対象車両として認識し、停止車両の車両左端位置及び車両右端位置に挟まれた基準境界線位置が存在しない場合には停止車両を操舵制御の対象車両として認識しない対象車両認識部と、を備える。【選択図】図３