Patent Document ID: 10000210
Application ID: 15215180
Patent Flag: 1

Claim One:
1. A lane recognition apparatus for a vehicle, comprising: one or more of a camera, laser, and radar, configured to obtain road surface information regarding a road on which the vehicle travels; one or more processors, configured to: recognize lane lines of the road on which the vehicle travels based on the obtained road surface information, the lane lines including a first lane line and a second lane line; separately determine whether the recognized first and second lane lines are reliably recognized, based on a plurality of characteristic amounts that are derived from the road surface information and correspond to characteristics of the respective first and second recognized lane lines; and after one of the first or second lane lines is determined to be reliably recognized, monitor a status of the determination of whether the other of the first and second lane lines is reliably recognized to adjust a timing at which a result of the recognition of both of the first and second lane lines is provided to a driver; a display, configured to display the recognized first and second lane lines based on the adjusted timing.