Patent ID: 7933434

Claim:
A vehicle comprising: an imaging means; an image data acquisition means which acquires image data of a road captured by the imaging means; an installation interval recognizing means which recognizes an interval between stud-type lane marks provided on the road; a vehicle speed recognizing means which recognizes the traveling speed of the vehicle; an image synthesizing means which generates synthesized image data by combining a plurality of image data acquired by the image data acquisition means; an imaging timing determining means which determines the timing of imaging by the imaging means on the basis of the interval and the traveling speed when acquiring the plurality of image data combined by the image synthesizing means using the image data acquisition means in such a way that the positions of the stud-type lane marks in the plurality of image data are different between the respective image data; and a lane mark detecting means which detects the stud-type lane marks from the synthesized image data generated by the image synthesizing means, wherein: the imaging timing determining means determines a second time point at which the vehicle travels from a first time point at which an image is captured by the imaging means by one half of the interval between the lane marks as the next timing of imaging by the imaging means; and the image synthesizing means generates the synthesized image data by combining image data of the image captured at the first time point with image data of an image captured at the second time point, which are acquired by the image data acquisition means.