VEHICLE AND LANE RECOGNITION DEVICE

摘要

A lane recognition device has an image acquisition means (2) that acquires an color image of a road via an imaging means (9) mounted on a vehicle (8); lane mark detection means (3, 4) that detect lane marks of different predetermined colors on the road based on color information of the color image and outputs the result of the detection as lane mark candidate data; and a selection means (6) that selects, among the lane mark candidate data of the predetermined colors outputted from at least the lane mark detection means (3, 4), lane mark candidate data corresponding to the lane mark defining the actual lane where the vehicle (8) is traveling, and determines and outputs lane data representing information on the actual lane. Even if lane marks with different colors are present on a road, a lane mark of each color can be appropriately identified by a color image of the road obtained via an imaging means such as a camera.