A lane recognition apparatus for a vehicle is comprised of a camera and a
processor. The camera is installed to the vehicle and picks up a road
image ahead of the vehicle. The processor is coupled to the camera. The
processor is arranged to detect a plurality of lane marker candidate
points from the road image, to calculate a road model parameter
representative of a road shape ahead of the vehicle on the basis of the
lane marker candidate points, to calculate a deviation between the lane
marker candidate point and an estimated candidate point estimated from the
road model parameter, and to determine whether the road image is employed
for detecting the lane marker, on the basis of the deviation.
