| 摘要 |
There is provided an image acquisition means (2) for acquiring a color image of a road via an imaging means (9) mounted on a vehicle (8), a lane mark detection means (3, 4) for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data, and a selection means (6) for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle (8) is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means (3, 4), and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data. Therefore, even if there are lane marks of different colors on the road, the lane marks of the respective colors can be recognized appropriately from the color image of the road acquired via the imaging means such as a camera.
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