US Patent 7379815 Lane detection apparatus

A lane detection apparatus includes a capture means, a vehicle detection means, a subject lane detection means, and an additional lane detection means. The capture means captures an image around a subject vehicle. The vehicle detection means detects an object vehicle around the subject vehicle. The subject lane detection means detects a subject lane. The additional lane detection means detects an additional lane different from the subject lane based on a positional relationship between the object vehicle detected by the vehicle detection means and the subject lane detected by the subject lane detection means.