Vehicle and lane mark recognition apparatus

摘要

A lane mark recognition apparatus includes an image capturing means (30) which captures a color image (IM—0) of a road via a color video camera (10), a specific-color-extracted image generating means (31) which generates a luminance-extracted image (IM—1) obtained by extracting white-color data from the color image (IM—0) and a yellow-color-extracted image (IM—2) obtained by extracting yellow-color data from the color image (IM—0), and a lane mark detection means (50a) which detects a white line and a yellow line from a composite image (IM_C) formed from the luminance-extracted image (IM—1) and the yellow-color-extracted image (IM—2) and outputs position data (Pd1) of the white line and position data (Pd2) of the yellow line.