US Patent 10140527 Apparatus and method for recognizing driving lane of vehicle

An apparatus for recognizing a driving lane of a vehicle includes a first lane attribute information extractor configured to extract front lane attribute information from a front image of the vehicle. A second lane attribute information extractor is configured to extract current position lane attribute information depending on a current position and a progress direction of the vehicle. A driving lane determiner is configured to determine a current driving lane of the vehicle depending on the front lane attribute information and the current position lane attribute information.