An edge point extracting apparatus is provided which includes an image obtaining unit which obtains a road surface image which is picked up from a road surface ahead of a vehicle and from which a plurality of color components are separately extracted a high luminance component selecting unit which extracts a pixel group including a plurality of pixels arranged in a line on the road surface image and selects a color component from the plurality of color components in the pixel group, the selected color component having the highest average luminance which is equal to or more than a predetermined threshold and an edge extracting unit which extracts an edge point in the pixel group by using a color component of the plurality of color components other than the color component selected by the high luminance component selecting unit.