Patent Document ID: 20090284597
Application ID: 11995798
Patent Status: 0

Claim One:
1. A vehicle having: an imaging means; an image processing system which performs image processing on the basis of a road image captured by the imaging means; and a vehicle traveling control system which controls the travel of the vehicle on the basis of a result of the image processing performed by the image processing system, wherein the image processing system includes: a first processing section which sets an area including a plurality of pixels while gradually moving the area in the road image; a second processing section which corrects a color component of a first pixel included in the front end of the area in a moving direction among the plurality of pixels included in the area by the first processing section with reference to a color component of a second pixel other than the first pixel among the plurality of pixels; a third processing section which calculates a feature value of the first pixel that depends on a noticeable color on the basis of the color component of the first pixel corrected by the second processing section; and a fourth processing section which recognizes a lane mark having the noticeable color in the road image on the basis of feature values of a plurality of pixels obtained by sequentially repeating the correction of the color component of the first pixel by the second processing section and the calculation of the feature value of the first pixel by the third processing section whenever the area is set by the first processing section.