Patent ID: 8098895

Claim:
A lane marker recognition apparatus which recognizes a lane marker based on an image captured in a direction in which a vehicle is traveling, comprising: a recognizing device that recognizes one lane marker present on one of a left side and a right side of the vehicle and n lane markers present on the other of the left side and the right side of the vehicle, captured in the image, where n is an integer equal to or larger than two; a calculating portion that obtains combinations of the one lane marker with each of the n lane markers, with regard to multiple lane markers recognized by the recognizing device, as first to nth running lanes in ascending order of distance between the lane markers, and calculating control values regarding the respective first to nth running lanes; a first selecting portion which selects a predetermined running lane from among the second to nth running lanes as a selected running lane at a first timing; and a second selecting portion that selects a running lane that has a control value closest to the control value regarding the selected running lane, from among the first to nth running lanes, as a new selected running lane, at a second timing that differs from the first timing.