Patent ID: 8744194

Claim:
A boundary line recognition apparatus comprising: an on-vehicle camera configured to acquire image of an area around a vehicle and to output image data; a boundary line candidate extracting processor extracting one or more boundary line candidates which are present on a driving lane of the vehicle from the image data obtained by the on-vehicle camera; a boundary line feature calculating processor calculating a likelihood which represents a degree of probability that a subject boundary line candidate is a boundary line on the driving lane extracted by the boundary line candidate extracting processor, wherein the subject boundary line candidate is part of the one or more boundary line candidates; a boundary line selecting processor selecting a final boundary line candidate having a maximum likelihood as the boundary line on the driving lane from among the one or more boundary line candidates; and a stripe pattern detecting processor detecting, from the image data obtained by the on-vehicle camera, a stripe pattern of indentation on the driving lane by determining that, the stripe pattern has a brightness of not more than a predetermined value, and wherein the boundary line feature calculating processor decreases the likelihood of the subject boundary line candidate when the stripe pattern detecting processor detects the presence of the stripe pattern.