Patent ID: 7421095

Claim:
A system for recognizing a traffic lane marking line for a vehicle comprising: image photographing means for photographing a range including a road surface in a direction of travel of the vehicle; traffic lane marking line recognizing means configured to be capable of recognizing at least a traffic lane marking line in broken line on the road surface in a photographed image photographed by the image photographing means; and image compositing means for compositing a plurality of images photographed at different time points by the image photographing means to elongate the traffic lane marking line in the photographed images; wherein the image compositing means selects at least one of the plurality of images and composites the plurality of images in a processing stage in such a manner that no change will be imparted to at least a shape of the traffic lane marking line in the photographed image in a traffic lane marking line recognition processing of the traffic lane marking line recognizing means.