VEHICLE AND LANE MARK RECOGNITION APPARATUS

摘要

A lane mark recognition apparatus has an image acquisition means (30) for acquiring a color image (IM_0) of a road via a color video camera (10), a specific-color-extracted image creation means (31) for creating both a brightness-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) detecting a while line and a yellow line from a composite image (IM_C) formed by the brightness-extracted image (IM_1) and the yellow-color-extracted image (IM_2) and outputting positional data (Pd1) of the white line and positional data (Pd2) of the yellow line.