Dividing line recognition device

A dividing line recognition device comprising a controller configured to:

• acquire dividing line information around an own vehicle detected by a dividing line detection sensor mounted on the own vehicle;
• acquire target information around the own vehicle detected by a target detection sensor mounted on the own vehicle;
• estimate a state of another vehicle on a basis of the target information;
• recognize a dividing line from the dividing line information and generate the recognized dividing line as a first dividing line;
• estimate a dividing line by extending the first dividing line and generate the estimated dividing line as a second dividing line;
• estimate a dividing line on a basis of a positional relationship between a traveling trajectory of the other vehicle and the first dividing line, wherein estimating the dividing line includes measuring a lane-width-direction distance between the traveling trajectory of the other vehicle and the first dividing line, calculating an offset value based on the measured distance, and laterally shifting the travelling trajectory by the offset value, and generate the estimated dividing line as a third dividing line;
• and
• construct an output dividing line to be output as a dividing line using at least one of the first dividing line, the second dividing line, or the third dividing line.