Travel path recognition apparatus and travel path recognition method

A travel path recognition apparatus comprising:

• a lane marking receiver configured to acquire lane marking information concerning a position and a shape of a lane marking in front of a vehicle with respect to a position of the vehicle;
• a vehicle behavior receiver configured to acquire vehicle behavior concerning a vehicle speed and a yaw rate of the vehicle from acquisition time of the lane marking information to current time;
• and
• a travel path recognizer configured to recognize a travel path on which the vehicle travels based on the lane marking information, wherein
• when the lane marking receiver acquires a plurality of pieces of the lane marking information equal to or greater than a predetermined number, the travel path recognizer corrects the plurality of pieces of the lane marking information into a plurality of pieces of current-position lane marking information based on the vehicle behavior, and estimates one piece of current-position lane marking information as estimation lane marking information based on the plurality of pieces of current-position lane marking information to use the estimation lane marking information to recognize the travel path, the plurality of pieces of current-position lane marking information concerning the position and the shape of the lane marking with respect to a current position of the vehicle.