Lane Determining Device and Navigation System
First Claim
1. A lane determining device that determines a lane traveled by a host vehicle traveling on a road with a plurality of lanes in each direction, whereinthe lane determining device detects a division line provided on the road with the plurality of lanes in each direction, and determines the lane traveled based on a relationship between the division line and the host vehicle, and on a travel path of the host vehicle.
1 Assignment
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Accused Products
Abstract
Provided is a lane determining device that is capable of quickly and accurately determining the lane traveled by a host vehicle traveling on a road with a plurality of lanes in each direction. A lane determining device that determines the lane traveled by the host vehicle traveling on a road with a plurality of lanes in each direction comprises: road geometry obtaining means that obtains road geometry; imaging means that images the road; division line recognition means that recognizes a division line from an image imaged by the imaging means; first path computation means that computes a path of the host vehicle by repeatedly computing a distance from the division line recognized by the division line recognition means to the imaging means; second path computation means that computes a path of the host vehicle based on the road geometry obtained by the road geometry obtaining means and on autonomous navigation; third path computation means that computes a path of the host vehicle based on a first path computed by the first path computation means and on a second path computed by the second path computation means; and traveled lane determination means that determines the lane traveled by the host vehicle based on a third path computed by the third path computation means.
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Citations
16 Claims
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1. A lane determining device that determines a lane traveled by a host vehicle traveling on a road with a plurality of lanes in each direction, wherein
the lane determining device detects a division line provided on the road with the plurality of lanes in each direction, and determines the lane traveled based on a relationship between the division line and the host vehicle, and on a travel path of the host vehicle.
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2. A lane determining device that determines a lane traveled by a host vehicle traveling on a road with a plurality of lanes in each direction, the lane determining device comprising:
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imaging means that images the road; division line recognition means that recognizes a division line from an image imaged by the imaging means; first path computation means that computes a path of the host vehicle by repeatedly computing a distance from the division line recognized by the division line recognition means to the imaging means; second path computation means that computes a path of the host vehicle based on autonomous navigation; third path computation means that computes a path of the host vehicle based on a first path computed by the first path computation means and on a second path computed by the second path computation means; and traveled lane determination means that determines the lane traveled by the host vehicle based on a third path computed by the third path computation means, wherein the third path computation means computes the third path based on the first path if the division line recognition means was able to recognize a division line, and computes the third path based on the second path if the division line recognition means was unable to recognize a division line. - View Dependent Claims (3, 4, 5, 6, 9, 10, 11, 12, 13, 14, 15)
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8. A lane determining device that detects a division line provided on a road with a plurality of lanes in each direction, and determines a lane traveled by a host vehicle based on a relationship between the division line and the host vehicle, and on a travel path of the host vehicle, wherein
the lane traveled is determined based on the travel path and road geometry if the division line could not be detected.
Specification