Patent ID: 6845172

Claim:
A road lane marker recognition apparatus for obtaining a forward road image of a road ahead of a vehicle with an imaging device and estimating road parameters of a road model equation, the recognition apparatus comprising a processor: to set, in the road image, a plurality of windows along a road lane marker on the road so that the road lane marker is contained in each window; to calculate a candidate lane marker which is likely to be the road lane marker in each window; to judge an accuracy in determining the position of the candidate lane marker with respect to the road lane marker in each window; and to estimate the road parameters of the road model equation representing a road shape of the road and vehicle attitude with respect to the road, the processor being configured to estimate the road parameters inclusive of a vehicle lateral displacement, by using at least a gradient of the candidate lane marker for one window judged to be lower in the accuracy, and by using an image coordinate of the candidate lane marker for one window judged to be higher in the accuracy.