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    • 4. 发明授权
    • Lane determining device, method, and program
    • 车道确定装置,方法和程序
    • US08112222B2
    • 2012-02-07
    • US12068807
    • 2008-02-12
    • Koichi NakaoMasaki NakamuraMotohiro Nakamura
    • Koichi NakaoMasaki NakamuraMotohiro Nakamura
    • G05D1/02
    • G01C21/3658G01C21/3602
    • Devices, methods, and programs obtain vehicle position information indicating a current position of a vehicle, and based on the vehicle position information, obtain road information including positions and forms of lane markings around the current position of the vehicle. Based on the road information, the devices, systems, and methods determine whether a branch point exists on the road in a forward direction of the vehicle. If a branch point exists, the devices, methods, and programs obtain image information of an area before the branch point, and determine whether no lane marking is imaged or is partly imaged in the image information of the area before the branch point. If there is no lane marking or only a partial lane marking imaged in the area before the branch point, the devices, methods, and programs obtain image information of the branch point including a captured image of a lane marking, and determine a lane in which the vehicle is traveling after the branch point based on an imaging order of the lane marking, a form of the lane marking, a position of the lane marking in the image information of the branch point, and the road information.
    • 装置,方法和程序获取指示车辆的当前位置的车辆位置信息,并且基于车辆位置信息,获得包括车辆当前位置周围的车道标记的位置和形式的道路信息。 基于道路信息,设备,系统和方法确定道路上是否存在分支点在车辆的前方。 如果存在分支点,则设备,方法和程序获得分支点之前的区域的图像信息,并且确定在分支点之前的区域的图像信息中是否对车道标记成像或部分成像。 如果在分支点之前的区域中没有车道标记或者仅仅局部车道标记成像,则设备,方法和程序获得包括车道标记的拍摄图像的分支点的图像信息,并且确定其中 基于车道标记的成像顺序,车道标记的形式,分支点的图像信息中的车道标记的位置和道路信息,车辆在分支点之后行驶。