Patent ID: 8144926

Claim:
A vehicle comprising: an imaging means; an image acquisition means for acquiring a color image of a road via the imaging means; a lane mark detection means for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data; and a selection means for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means, and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data, wherein each of the lane mark candidate data has lane mark position data indicating a position of the lane mark, color information of the lane mark, and type information of the lane mark, the lane data output by the selection means has shape information of the actual lane, color information of the lane mark defining the actual lane, and type information of the lane mark defining the actual lane, and the selection means determines the shape information in the lane data based on the lane mark position data in the selected lane mark candidate data, determines the color information in the lane data based on the color information in the selected lane mark candidate data, and determines the type information in the lane data based on the type information in the selected lane mark candidate data.