LANE MARKER RECOGNITION APPARATUS

Data on a lane marker are extracted based on a centerline position, centerline shape, and width of a lane, which are projected for the present cycle. Data on a lane centerline are generated by adjusting x-axis components of the extracted data. A centerline position and centerline shape is calculated with the Hough's transformation using the generated data on the lane centerline. A frequency distribution is calculated for opposing positions with respect to the lane centerline. A lane width of the road is calculated by calculating an auto-correlation function with respect to the frequency distribution. A centerline position, centerline shape, and lane width at the present cycle and subsequent cycles are estimated/projected with the Kalman filter.