Vehicle control device
A vehicle control device includes a peripheral image acquisition unit adapted to acquire peripheral image data including a lane marking on a road in a travel direction of a host vehicle, a lane marking recognition unit adapted to recognize the lane marking from the image data, and a specified region determining unit adapted to determine, within the image data, the presence or absence of a specified region where continuity of the road is interrupted. In the case that the specified region exists, the lane marking recognition unit performs recognition of the lane marking on a side closer to the host vehicle than the specified region.
1. A vehicle control device configured to carry out a travel control for a host vehicle at least partially automatically, comprising:
a processing unit that executes programs stored in a storage device, the processing unit comprising:
a peripheral image acquisition unit configured to acquire peripheral image data including a lane marking on a road in a travel direction of the host vehicle;
a lane marking recognition unit configured to recognize the lane marking from the image data; and
a specified region determining unit configured to determine, within the image data, presence or absence of a specified region where continuity of the road is interrupted due to a shape of the road including a closer uphill slope, a downhill slope, and a farther uphill slope, the farther uphill slope being great enough to be acquired by the peripheral image acquisition unit;
wherein, in a case that the specified region exists, the lane marking recognition unit performs recognition of the lane marking on a side closer to the host vehicle than the specified region,
the specified region determining unit determines as the specified region a region within the image data in which the lane marking of a travel lane of the host vehicle is shifted inward in a lateral direction midway therealong, due to the downhill slope.
2. The vehicle control device according to claim 1 , wherein the specified region determining unit determines as the specified region a region within the image data in which a line indicating interruption of continuity of the road extends from a travel lane of the host vehicle to a lane in which an oncoming vehicle travels.
3. The vehicle control device according to claim 1 , wherein the specified region determining unit determines as the specified region a region within the image data in which the lane marking of the travel lane of the host vehicle, and the lane marking of a lane in which an oncoming vehicle travels are both shifted in a lateral direction midway therealong.
4. The vehicle control device according to claim 1 , wherein the specified region determining unit determines as the specified region a region within the image data in which continuity of a road width of a travel lane of the host vehicle with respect to a travel direction is interrupted.
5. The vehicle control device according to claim 1 , wherein:
within the image data, a plurality of rectangular markings that make up a dashed-line shaped lane marking are included in a travel lane of the host vehicle; and
the specified region determining unit determines as the specified region a region in which continuity of a length of the plurality of rectangular markings with respect to the travel direction is interrupted.
6. The vehicle control device according to claim 1 , wherein a region on a side closer to the host vehicle than the specified region is a region from 100 to 300 meters away from the host vehicle.
7. The vehicle control device according to claim 1 , wherein, in a case that the specified region does not exist, the lane marking recognition unit performs recognition of the lane marking within a preset region.
8. The vehicle control device according to claim 7 , wherein the preset region is a region from 300 to 500 meters away from the host vehicle.