A lane recognition apparatus according to the present invention includes: a subject vehicle position calculation unit that calculates a current position of a subject vehicle; a traveling lane estimation unit that estimates a lane in which the subject vehicle is traveling and a position, in a direction perpendicular to a traveling direction, of the subject vehicle in the lane based on the current position of the subject vehicle, subject vehicle surroundings information indicating a positional relationship between a road structure being a three-dimensional structure existing in relation to a road and the subject vehicle, and road information associating the road structure with a lane of a road in terms of a positional relationship therebetween; and a traveling lane final determination unit that determines the lane in which the subject vehicle is traveling and the position of the subject vehicle in the lane based on results of estimation.
LANE RECOGNITION DEVICE AND LANE RECOGNITION METHOD
2018-06-28
Patent
Electronic Resource
English
IPC: | G06K Erkennen von Daten , RECOGNITION OF DATA / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
LANE RECOGNITION DEVICE, LANE RECOGNITION METHOD, AND PROGRAM
European Patent Office | 2015
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