Lane line recognition apparatus

A lane line recognition apparatus comprising:

• an imaging unit mounted in a vehicle and configured to capture an image of a travel lane;
• a lane-line detector configured to detect left-side and right-side lane lines that define the travel lane based on the image captured by the vehicle-mounted camera;
• an abnormality determiner configured to determine whether or not a width of the travel lane defined by the left-side and right-side lane lines detected by the lane-line detector is abnormal;
• a lane-line recognizer configured to, when it is determined by the abnormality determiner that the width of the travel lane is not abnormal, recognize both of the left-side and right-side lane lines in a both-side line recognition mode, and when it is determined by the abnormality determiner that the width of the travel lane is abnormal, recognize one of the left-side and right-side lane lines in a one-side line recognition mode,
• wherein in the one-side line recognition mode, the lane-line recognizer is configured to, for each of the left-side and right-side lane lines detected by the lane-line detector, calculate two or more parameters, of parameters representing positions of the vehicle in the travel lane relative to the lane line and parameters representing a shape of the lane line, then integrate recognition results for the respective two or more parameters are integrated, and based on the integrated recognition results of the left-side and right-side lane lines, select one of the left-side and right-side lane lines to be recognized;
• wherein the lane-line detector, the abnormality determiner, and the lane-line recognizer are all being performed by one or more processors.