Patent ID: 8184859

Claim:
A road marking recognition apparatus, comprising: an image data storage device; a unit that obtains image data of a road and stores said image data into said image data storage device; a road marking data storage device; and a road marking processor, and wherein said road marking processor detects a stop line within a traffic lane delimited by white lines in said image data stored in said image data storage device, and stores position data of said stop line into said road marking data storage device, and further detects a crosswalk within said traffic lane delimited by said white lines in said image data stored in said image data storage device and stores position data of said crosswalk into said road marking data storage device, and said road marking processor judges based on said position data stored in said road marking data storage device, whether or not the crosswalk appears after the stop line in a vehicle-traveling direction on said image data, and evaluates a confidence degree for detection results of the stop line and the crosswalk by using a judgment result of whether or not the crosswalk appears after the stop line in the vehicle-traveling direction.