Lane boundary marking line detection device and electronic control device

A lane boundary marking line detection device comprising:

• an imaging device configured to capture an area in front of a vehicle;
• a lane boundary detection unit configured to detect a first lane boundary and a second lane boundary based on image information in an imaging area captured by the imaging device, the first lane boundary and the second lane boundary being positioned on a road surface on which the vehicle travels, and the second lane boundary being positioned on the road surface on an opposite side of the first lane boundary across the vehicle in a vehicle width direction;
• and
• a lane boundary marking line search unit configured to search for a lane boundary marking line on the road surface on the opposite side based on a position of the first lane boundary, wherein
• the lane boundary marking line search unit is configured to set search lines on the road surface on the opposite side based on shape information on the first lane boundary, the search lines being positioned at positions different from each other in the vehicle width direction in the lane,
• the lane boundary marking line search unit is configured to acquire search line brightness information based on the image information, the search line brightness information being brightness information on each of the search lines,
• the lane boundary marking line search unit is configured to determine, by comparing the search line brightness information of the search lines with each other, whether there is the search line that is one of the search lines and is most probable as the search line used as a lane boundary making line candidate,
• the lane boundary marking line search unit is configured to, when it is determined that there is the search line that is most probable as the lane boundary marking line, select the search line as a lane boundary marking line candidate line, and
• the lane boundary marking line search unit is configured not to, when it is not determined that there is the search line that is most probable as the lane boundary marking line, select any of the search lines as the lane boundary marking line candidate line.