Travel Lane Detection Method and Travel Lane Detection Device
AssigneeNissan Motor Co., Ltd.
InventorsChikao Tsuchiya, Yasuhito Sano
Life of this patent
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Abstract
A travel lane detection method detects travel lane boundaries according to a plurality of travel lane characteristic points detected by a target detection sensor installed in a vehicle. When a lane change of the vehicle is detected, the method determines continuity of the travel lane characteristic points detected before the lane change is completed with respect to the travel lane characteristic points detected after the lane change is completed while taking account of a lane change amount so as to detect the travel lane boundaries according to the continuity of the travel lane characteristic points.
Claims8
A travel lane detection method using a travel lane detection circuit for accumulating, according to an amount of movement of a vehicle, a plurality of travel lane characteristic points detected by a target detection sensor installed in the vehicle so as to detect travel lane boundaries according to the accumulated travel lane characteristic points,
- the travel lane detection circuit being configured to, when a lane change of the vehicle is detected, correct the travel lane characteristic points detected and accumulated before the lane change starts according to an amount of movement of the vehicle in a vehicle width direction derived from the lane change, and detect the travel lane boundaries after the lane change of the vehicle is completed by use of the corrected travel lane characteristic points detected and accumulated before the lane change starts and the travel lane characteristic points detected and accumulated after the lane change is completed.
A travel lane detection device comprising a controller programed to:
- accumulate, according to an amount of movement of a vehicle, a plurality of travel lane characteristic points detected by a target detection sensor installed in the vehicle;
- and
- detect travel lane boundaries according to the accumulated travel lane characteristic points,
- when a lane change of the vehicle is detected, correct the travel lane characteristic points detected and accumulated before the lane change starts according to an amount of movement of the vehicle in a vehicle width direction derived from the lane change, and detect the travel lane boundaries after the lane change of the vehicle is completed by use of the corrected travel lane characteristic points detected and accumulated before the lane change starts and the travel lane characteristic points detected and accumulated after the lane change is completed.
A travel lane detection method using a travel lane detection circuit for accumulating, according to an amount of movement of a vehicle, a plurality of travel lane characteristic points detected by a target detection sensor installed in the vehicle so as to detect travel lane boundaries according to the accumulated travel lane characteristic points,
- the travel lane detection circuit being configured to, when a lane change of the vehicle is detected, ignore the travel lane characteristic points detected and accumulated before the lane change is completed, and detect the travel lane boundaries after the lane change of the vehicle is completed by use of the travel lane characteristic points detected and accumulated after the lane change is completed.
Dependencies are inferred from the claim text.