# US 2025/0146836 A1 · Lane Recognition Method and Lane Recognition Device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0146836 A1 - Document ID: US20250146836A1 - Status: Published application - Kind: A1 - Application number: 18/837,080 - Filed: 2022-02-21 - Published: 2025-05-08 - Earliest claimed: 2022-02-21 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Takahiro Nojiri; Katsuhiko Degawa; Yohei Taniguchi; Kazuyuki Uwabo; Yuji Nagasawa; Hirotaka Kamimura - Web page: https://patentgrep.com/patent/US20250146836A1 ## CPC - G01C 21/26: specially adapted for navigation in a road network - G01C 21/3822: {Road feature data, e.g. slope data} - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2556/20: Data confidence level - B60W 2556/40: High definition maps - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A lane recognition method and a lane recognition device operate such that when a travel lane of a vehicle is recognized by performing cross-check between first boundary information about a boundary dividing lanes acquired from map information and second boundary information about the boundary dividing the lanes acquired from a detection device of the vehicle, a movable center line is detected from at least one of the first boundary information and the second boundary information. The movable center line is a center line that can move in a width direction of a road on which the vehicle travels. When the movable center line is detected, the cross-check between the first boundary information and the second boundary information is not performed on one of a right side and a left side of the vehicle on which the movable center line is detected. ## Claims ### Claim 1 A lane recognition method for recognizing a travel lane of a vehicle by using a processor to perform cross-check between first boundary information about a boundary dividing lanes and second boundary information about the boundary dividing the lanes, the first boundary information being acquired from map information, the second boundary information being acquired from a detection device of the vehicle, wherein the processor detects a movable center line from at least one of the first boundary information and the second boundary information, the movable center line being a center line that can move in a width direction of a road on which the vehicle travels, and when the movable center line is detected, the processor does not perform the cross-check between the first boundary information and the second boundary information on one of a right side and a left side of the vehicle on which the movable center line is detected. ### Claim 2 (depends on 1) The lane recognition method according to claim 1, wherein when the movable center line is no longer detected after the movable center line is detected, the processor restarts the cross-check on a side on which the movable center line is no longer detected. ### Claim 3 (depends on 1) The lane recognition method according to claim 1, wherein when the movable center line is detected from the second boundary information, the processor determines whether or not a position of the movable center line is within an adjacent lane to the travel lane and whether or not the movable center line is the boundary of the travel lane, when determining that the position of the movable center line is within the adjacent lane or determining that the movable center line is the boundary of the travel lane, the processor does not perform the cross-check on a side on which the movable center line is detected, and when determining that the position of the movable center line is not within the adjacent lane and determining that the movable center line is not the boundary of the travel lane, the processor performs the cross-check on the side on which the movable center line is detected. ### Claim 4 (depends on 1) The lane recognition method according to claim 1, wherein when the movable center line is detected, the processor performs the cross-check on a side opposite to a side on which the movable center line is detected. ### Claim 5 (depends on 1) The lane recognition method according to claim 1, wherein the first boundary information includes a type of the boundary of the lanes on the road on which the vehicle travels, the second boundary information includes the type of the boundary of the lanes detected by the detection device, and when performing the cross-check, the processor compares the type of the boundary included in the first boundary information with the type of the boundary included in the second boundary information sequentially from the right side or left side with respect to a traveling direction of the vehicle. ### Claim 6 A lane recognition device comprising: a recognition unit that recognizes a travel lane of a vehicle by performing cross-check between first boundary information about a boundary dividing lanes and second boundary information about the boundary dividing the lanes, the first boundary information being acquired from map information, the second boundary information being acquired from a detection device of the vehicle; and a detection unit that detects a movable center line from at least one of the first boundary information and the second boundary information, the movable center line being a center line that can move in a width direction of a road on which the vehicle travels, wherein when the movable center line is detected by the detection unit, the recognition unit does not perform the cross-check between the first boundary information and the second boundary information on one of a right side and a left side of the vehicle on which the movable center line is detected.