Patent ID: 8208021

Claim:
A vehicle comprising: an imaging means; an image acquisition means which acquires an image of a road via the imaging means; an edge extraction means which extracts edge points by performing edge extraction for the image acquired by the image acquisition means; a line search means which searches the edge points extracted by the edge extraction means for line components each of which is point sequence data of a plurality of linearly located edge points; an evaluation value calculation means which calculates an evaluation value indicating a degree that each line component approximates a linear lane mark on the road for the line components searched for by the line search means, wherein the evaluation value calculation means calculates the evaluation value by using a ratio between a number of the edge points constituting the line component and a number of continuous edge points among the edge points; a lane mark candidate selection means which selects line components each having an evaluation value or a value obtained by filtering a time series of the evaluation value greater than a predetermined threshold value as candidates for a line component corresponding to a lane mark from the line components searched for by the line search means; and a lane mark detection means which detects the lane mark by determining the line component corresponding to the lane mark from the candidates for the line component selected by the lane mark candidate selection means.