# US 12,762,867 B2 · Dividing line recognition device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,762,867 B2 - Document ID: US12762867B2 - Status: Granted - Kind: B2 - Application number: 18/254,637 - Filed: 2021-09-21 - Published: 2024-01-04 - Granted: 2026-10-13 - Earliest claimed: 2020-12-16 - Assignees: Hitachi Astemo, Ltd. - Applicants: Hitachi Astemo, Ltd. - Inventors: Kento Kagimoto; Hitoshi Hayakawa; Shunsuke Matsuo - Web page: https://patentgrep.com/patent/US12762867B2 ## CPC - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60W 60/001: {Planning or execution of driving tasks} - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - G06T 2207/30256: Lane; Road marking - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A dividing line recognition device includes a controller that acquires dividing line information around an own vehicle detected by a dividing line detection sensor, acquires target information around the own vehicle detected by a target detection sensor, and estimates a state of another vehicle on a basis of the target information. The controller recognizes a dividing line from the dividing line information and generates a first dividing line, estimates a dividing line by extending the first dividing line and generates a second dividing line, estimates a dividing line on a basis of a positional relationship between a traveling trajectory of the other vehicle and the first dividing line and generates a third dividing line, and constructs an output dividing line to be output as a dividing line using at least one of the first dividing line, the second dividing line, or the third dividing line. ## Claims ### Claim 1 A dividing line recognition device comprising a controller configured to: acquire dividing line information around an own vehicle detected by a dividing line detection sensor mounted on the own vehicle; acquire target information around the own vehicle detected by a target detection sensor mounted on the own vehicle; estimate a state of another vehicle on a basis of the target information; recognize a dividing line from the dividing line information and generate the recognized dividing line as a first dividing line; estimate a dividing line by extending the first dividing line and generate the estimated dividing line as a second dividing line; estimate a dividing line on a basis of a positional relationship between a traveling trajectory of the other vehicle and the first dividing line, wherein estimating the dividing line includes measuring a lane-width-direction distance between the traveling trajectory of the other vehicle and the first dividing line, calculating an offset value based on the measured distance, and laterally shifting the travelling trajectory by the offset value, and generate the estimated dividing line as a third dividing line; and construct an output dividing line to be output as a dividing line using at least one of the first dividing line, the second dividing line, or the third dividing line. ### Claim 2 (depends on 1) The dividing line recognition device according to claim 1, wherein the controller is further configured to divide each of the first dividing line, the second dividing line, and the third dividing line into a plurality of sections and selects one of the first dividing line, the second dividing line, and the third dividing line as a dividing line in each section on a basis of reliability. ### Claim 3 (depends on 2) The dividing line recognition device according to claim 2, wherein the controller is further configured to add reliability information to each of information on the first dividing line, information on the second dividing line, and information on the third dividing line and selects a dividing line having high reliability as a dividing line in each section among the first dividing line, the second dividing line, and the third dividing line. ### Claim 4 (depends on 1) The dividing line recognition device according to claim 1, wherein the controller is further configured to: acquire positioning information detected by a positioning sensor mounted on the own vehicle; estimate a position/posture of the own vehicle on a basis of the positioning information; accumulate the position/posture of the own vehicle and information on the first dividing line as a history and generate a fourth dividing line obtained by extending the first dividing line rearward of the own vehicle; and use the third dividing line and the fourth dividing line to construct, behind the own vehicle, an output dividing line that is a boundary between an own lane on which the own vehicle is traveling and an adjacent lane adjacent to the own lane. ### Claim 5 (depends on 1) The dividing line recognition device according to claim 1, wherein the controller is further configured to: estimate states of a plurality of other vehicles around the own vehicle, estimate a plurality of third dividing lines on a basis of a positional relationship between the first dividing line and a traveling trajectory of each of the plurality of other vehicles, and construct an output dividing line to be output as a dividing line using at least one of the first dividing line, the second dividing line, or the plurality of third dividing lines. ### Claim 6 (depends on 5) The dividing line recognition device according to claim 5, wherein in a case where the plurality of third dividing lines are compared with each other and adjacent third sections have a distance equal to or less than a threshold, the controller is further configured to adopt any one of the plurality of third dividing lines or a dividing line obtained by integrating the plurality of third dividing lines, as the third dividing line. ### Claim 7 (depends on 4) A vehicle control device that determines whether a traveling lane of another vehicle traveling behind the own vehicle is the own lane or the adjacent lane by using information on the output dividing line behind the own vehicle constructed by the dividing line recognition device according to claim 4.