Travel lane boundary line detection apparatus

A travel lane boundary line detection apparatus comprising:

• a determination unit configured to distinguish and determine a composite line region, in which a composite line including a travel lane boundary line and an auxiliary line along the travel lane boundary line is drawn on a travel road surface, and a non-composite line region in which a single line formed by the travel lane boundary line is drawn on the travel road surface, from a travel road surface image of the road surface on which a vehicle travels;
• a calculation unit configured to calculate a candidate point of a central point of the composite line in a travel lane width direction that intersects a travel lane direction along the travel lane boundary line in the composite line region of the travel road surface image;
• an extraction unit configured to detect a travel lane boundary line segment of the travel lane boundary line in the non-composite line region of the travel road surface image, and to extract a travel lane boundary point from the travel lane boundary line segment;
• an integration unit configured to create an integrated travel lane boundary point group based on the candidate point of the central point of the composite line calculated by the calculation unit and on the travel lane boundary point extracted by the extraction unit;
• and
• an estimation unit configured to estimate a travel lane boundary line parameter representing the travel lane boundary line based on the integrated travel lane boundary point group created by the integration unit.