Intersection center detecting device, intersection Lane determination device, intersection center detecting method, intersection Lane judgment method and program

摘要

Problem to be solved: to provide an intersection center detecting device for determining intersection center and an intersection Lane determination device.Intersection center detecting device 10From the peripheral monitoring device 20 for monitoring the circumstances around the vehicleA data acquisition section 11 for acquiring data about the peripheral situation andBased on data on the surrounding situationThe road central detector 14 detects the center of the roadBased on data on the surrounding situationA signal detector 12 for detecting at least two signals at an intersectionThe intersection of the line connecting the detected signal to the center of the roadThe center point detecting section 15 detects the intersection center.Diagram