Driving assistance device and driving assistance method

Abstract

A driving assistance device that recognizes a lane marking around an own vehicle with at least one sensor includes a lane marking detection unit that detects lane marking information from data acquired by the sensor, a lane marking type candidate estimation unit that recognizes a lane marking type from the detected lane marking information and calculates a likelihood of each lane marking type, a lane marking type branch point estimation unit that detects a lane marking type branch point that is a point at which a likelihood of the lane marking type changes with respect to an advancing direction of the own vehicle, and distinguishes regions before and after the lane marking type branch point as a first region and a second region, and a lane marking information integration unit that, in a case where a lane marking of the first region and a lane marking of the second region have the same lane marking type, integrates the lane marking of the first region and the lane marking of the second region into a continuously recognizable lane marking.