To provide methods for road branch detection and path selection for lane centering.SOLUTION: Lane feature data is processed to compute a feed-forward lane curvature of a left lane boundary and a right lane boundary. A look-ahead lane width and a near lane width are computed based on the left and right lane boundaries. A lane width increase is computed to detect a lane split or lane merge based on differences between increasing lane widths. The lane split or merge is identified or determined. The lane boundary on the side on which the lane split or merged occurred is ignored, and a single-sided lane centering calculation is performed based on the non-ignored lane boundary.SELECTED DRAWING: Figure 1
【課題】車線中心合わせのための道路分岐部検出法及び経路選択法を提供すること。【解決手段】車線特徴データが処理されて、左側車線境界及び右側車線境界のフィードフォワード車線曲率が算出される。左側及び右側の車線境界に基づき、将来的車線幅及び近傍車線幅が算出される。車線幅増加量が算出されて、増大する車線幅同士の間の差に基づき、車線分岐部または車線合流部が検出される。上記車線の分岐部または合流部が特定または決定される。車線分岐部または合流部が生じた側の車線境界は無視され、且つ、無視されない方の車線境界に基づき、片側的な車線中心合わせ計算が実施される。【選択図】図1
METHODS FOR ROAD BRANCH DETECTION AND PATH SELECTION FOR LANE CENTERING
車線中心合わせのための道路分岐部検出法及び経路選択法
2021-09-16
Patent
Electronic Resource
Japanese
ROAD BRANCH DETECTION AND PATH SELECTION FOR LANE CENTERING
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