Patent attributes
A lane-line recognizing apparatus includes an acquiring unit, an extractor, and an identifier including a storage and an estimator. The acquiring unit acquires a traveling environment information on a traveling environment in front of an own vehicle. The extractor extracts feature quantities of lane-line components of lane lines from each frame image on a basis of the traveling environment information acquired by the acquiring unit. The identifier identifies the lane lines on the basis of the feature quantities extracted by the extractor. The storage stores the feature quantities extracted by the extractor. When the feature quantities are extracted again after a transition from a condition where the lane lines are identifiable to a condition where the lane lines are unidentifiable, the estimator estimates, on the basis of the feature quantities stored in the storage, the lane lines after the transition to the condition where the lane lines are unidentifiable.
