Road recognition device

A road recognition device comprising processing circuitry configured to:

• perform road recognition to recognize, at an intersection present in front of a vehicle, a second road present on one side in a vehicle width direction with respect to a first road on which the vehicle is currently traveling and a third road extending on a side opposite to the second road across the intersection;
• perform enterable area recognition to recognize an enterable area present around the vehicle;
• and
• derive a predetermined reference point based on a result of the road recognition and a result of the enterable area recognition, wherein
• the processing circuitry is configured to derive, as the reference point, at least one of
• a closer reference point of the second road based on a second-road-side enterable area present in the enterable area on a side closer to the second road with respect to the first road, and
• a farther reference point of the third road based on a third-road-side enterable area present in the enterable area on a side closer to the third road with respect to the first road,
• in a case where the closer reference point is to be derived and in a case where the second-road-side enterable area is continuous in a width direction of the second road, the processing circuitry is configured to perform a partition process by partitioning the second-road-side enterable area into a portion belonging to a closer side and a portion belonging to a farther side when viewed from the vehicle, and derives the closer reference point based on the portion belonging to the closer side partitioned by the partition process, and
• in a case where the farther reference point is to be derived and in case where the third-road-side enterable area is continuous in a width direction of the third road, the processing circuitry is configured to perform the partition process by partitioning the third-road-side enterable area into a portion belonging to a closer side and a portion belonging to a farther side when viewed from the vehicle, and derives the farther reference point based on the portion belonging to the farther side partitioned by the partition process.