Image capturing device

An image capturing device, which is mounted in a vehicle, comprising:

• a first camera which captures a first image;
• and
• a control device which recognizes a first compartment line that regulates a lane in the first image,
• wherein the control device comprises a lane width determination unit which determines presence or absence of a change in width of the lane based on relationships among widths of the first compartment line at two points on the first image at which distances from the vehicle are different and distances between the vehicle and the first compartment line at the two points when the vehicle travels along the first compartment line, and
• wherein, when a first straight line and a second straight line, which are two straight lines that pass through the two points, respectively, and are parallel to each other, are set on the first image, one of intersection points between the first straight line and the first compartment line is P11, another intersection point between the first straight line and the first compartment line is P12, an intersection point between the first straight line and a third straight line indicating the traveling direction of the vehicle is P13, one of intersection points between the second straight line and the first compartment line is P15, another intersection point between the second straight line and the first compartment line is P1, an intersection point between the second straight line and the third straight line is P17, and following Formulas (11) to (13) are set,
• (11) distance between two points P12 and P13/distance between two points P11 and P12=distance between two points P16 and P17/distance between two points P15 and P16
• (12) distance between two points P11 and P13/distance between two points P11 and P12=distance between two points P15 and P17/distance between two points P15 and P16
• (13) distance between two points P12 and P13/distance between two points P11 and P13=distance between two points P16 and P17/distance between two points P15 and P17,
• the lane width determination unit determines that there is no change in the width of the lane in a case of considering that one of the above Formulas (11) to (13) is established, and determines that there is the change in the width of the lane in another case.