Patent Document ID: 20090245582
Application ID: 12378509
Patent Status: 0

Claim One:
1. A lane recognition apparatus for a vehicle which recognizes a lane along which a vehicle is traveling from a color image of a road acquired via an imaging device mounted on the vehicle, comprising: a lane mark detection image acquisition device which acquires a lane mark detection image, which is divided into a first image region composed of pixels having pixel values supposed to be image portions of a lane mark defining the lane and a second image region composed of other pixels, from the color image of the road acquired via the imaging device; a clustering device which performs clustering in which the first image region of the lane mark detection image is divided into subregions each composed of adjacent pixels; a color determination device which determines a color of the subregions of the first image region obtained by the division in the clustering; a lane recognition device which performs line component extraction for each group, considering the subregions determined to have the same color by the color determination device as a single group, and recognizes a line position of the lane defined by the lane mark from the extracted line component; and a vehicle equipment control device which controls equipment of the vehicle according to a recognition result of the lane recognition device.