Abstract
A new method is developed for recognizing the road lane as well as recognizing and ascertaining the position and motion of a preceding vehicle, which is a moving object under actual driving conditions. In the previous method, an edge histogram was used that is actually a histogram of a differentiated black and white shading image to estimate the segment components, thereby enabling recognition of a preceding vehicle, and a radial histogram with respect to the focus of expansion to facilitate road lane recognition is used. This paper demonstrates that it is possible to achieve better recognition of the running environment by using colors for the object image in addition to methods mentioned above.