FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10, Rule 13]
TRAVELING LANE RECOGNITION APPARATUS AND TRAVELING LANE
RECOGNITION METHOD;
MITSUBISHI ELECTRIC CORPORATION, A CORPORATION ORGANISED AND
EXISTING UNDER THE LAWS OF JAPAN, WHOSE ADDRESS IS 7-3,
MARUNOUCHI 2-CHOME, CHIYODA-KU, TOKYO 100-8310, JAPAN
THE FOLLOWING SPECIFICATION PARTICULARLY DESCRIBES THE INVENTION
AND THE MANNER IN WHICH IT IS TO BE PERFORMED.
2
DESCRIPTION
TRAVELING LANE RECOGNITION APPARATUS AND TRAVELING LANE
RECOGNITION METHOD
5
TECHNICAL FIELD
[0001]
The present disclosure is related with a traveling lane
recognition apparatus and a traveling lane recognition method.
10
BACKGROUND ART
[0002]
The traveling lane recognition apparatus disclosed in the
patent document 1 corrects the plurality of division line
15 information detected in the past on the basis of the vehicle
position at the time of information acquisition, to the current
position division line information on the basis of the current
position of the vehicle; and estimates one current position
division line information as the estimation division line
20 information, based on the plurality of current position division
line information, and uses the estimation division line
information for recognition of the traveling lane.
CITATION LIST
25 Patent Literature
3
[0003]
Patent document 1: WO2018/131061
SUMMARY OF INVENTION
5 Technical Problem
[0004]
However, in the technology of the patent document 1, the case
where the own vehicle crosses the division line by lane change,
and the division lines on the left side and the right side of the
10 own lane are changed is not considered. If technology of the
patent document 1 is executed as it is, since the division line
information changes discontinuously before and after crossing the
division line by lane change, it is considered that error of the
estimation division line information becomes large. In the
15 technology of the patent document 1, even if it is configured that
the past current position information is reset after crossing the
division line, it is considered that a time lag until the past
current position information are accumulated occurs, and the
function of calculation processing of the estimation division line
20 information is deteriorated.
[0005]
Then, the purpose of the present disclosure is to provide a
traveling lane recognition apparatus and a traveling lane
recognition method which can suppress deterioration of recognition
25 accuracy of the division line of the own lane, even when the own
4
vehicle crosses the division line by lane change, and the
correspondence relation between the own lane and the division line
changes.
5 Solution to Problem
[0006]
A traveling lane recognition apparatus according to the
present disclosure including:
a division line information acquisition unit that acquires
10 division line information regarding position and shape of each
division line on a basis of a position of an own vehicle, about
division lines of one or a plurality of lanes which are
recognizable in front of the own vehicle and include an own lane
which is a lane where the own vehicle is traveling, and a lane
15 adjacent to the own lane;
a vehicle movement acquisition unit that acquires vehicle
movement information regarding movement of the own vehicle from an
acquisition time point of the division line information to a
current time point;
20 a division line information conversion unit that converts the
division line information at a plurality of time points of the
each division line, into division line information of current
position basis on a basis of a current position of the own vehicle
at the plurality of time points of the each division line, based
25 on the vehicle movement information;
5
an own lane determination storage unit that determines a
correspondence relation between the own lane and the each division
line, based on the division line information of the each division
line, and stores one or both of the division line information and
5 the division line information of current position basis, at the
plurality of time points of the each division line, by correlating
with the correspondence relation;
a division line information estimation unit that estimates
estimation division line information which is one division line
10 information, based on the division line information of current
position basis at the plurality of time points, about each of a
division line on a left side and a division line on a right side
of the own lane; and
a traveling lane recognition unit that recognizes a
15 positional relationship of the own lane with respect to the own
vehicle, based on the estimation division line information of each
of the division line on the left side and the division line on the
right side of the own lane.
[0007]
20 A traveling lane recognition method according to the present
disclosure including:
a division line information acquisition step of acquiring
division line information regarding position and shape of each
division line on a basis of a position of an own vehicle, about
25 division lines of one or a plurality of lanes which are
6
recognizable in front of the own vehicle and include an own lane
which is a lane where the own vehicle is traveling, and a lane
adjacent to the own lane;
a vehicle movement acquisition step of acquiring vehicle
5 movement information regarding movement of the own vehicle from an
acquisition time point of the division line information to a
current time point;
a division line information conversion step of converting the
division line information at a plurality of time points of the
10 each division line, into division line information of current
position basis on a basis of a current position of the own vehicle
at the plurality of time points of the each division line, based
on the vehicle movement information;
an own lane determination storage step of determining a
15 correspondence relation between the own lane and the each division
line, based on the division line information of the each division
line, and storing one or both of the division line information and
the division line information of current position basis, at the
plurality of time points of the each division line, by correlating
20 with the correspondence relation;
a division line information estimation step of estimating
estimation division line information which is one division line
information, based on the division line information of current
position basis at the plurality of time points, about each of a
25 division line on a left side and a division line on a right side
7
of the own lane; and
a traveling lane recognition step of recognizing a positional
relationship of the own lane with respect to the own vehicle, based
on the estimation division line information of each of the division
5 line on the left side and the division line on the right side of
the own lane.
Advantage of Invention
[0008]
10 According to the traveling lane recognition apparatus and the
traveling lane recognition method of the present disclosure, the
division line information of one or a plurality of division lines
which are recognizable in front of the own vehicle and include the
own lane and the adjacent lane are recognized, and the
15 correspondence relation between the own lane and the each division
line is determined. Then, one or both of the division line
information and the division line information of current position
basis, at the plurality of time points of the each division line
which were acquired at the plurality of time points of this time
20 and past are stored by correlating with the correspondence relation.
Accordingly, not only the division line information of the own
lane but also the division line information of the adjacent lane
are stored and accumulated.
[0009]
25 Then, also in the case where the division line of the own
8
lane is changed by crossing the division line with the lane change,
since the correspondence relation between the own lane and the
each division line is determined, and one or both of the division
line information and the division line information of current
5 position basis of the each division line are stored by correlating
with the correspondence relation, the division line information
and the division line information of current position basis of the
adjacent lane which were detected at the plurality of past time
points can be used as information of the own lane, and the
10 estimation division line information of the own lane can be
estimated. Accordingly, even when the division line of the own
lane is changed by the lane change, the estimation division line
information of the own lane can be calculated continuously without
interruption, and the positional relationship of the own lane with
15 respect to the own vehicle can be recognized. Since, at the time
of changing the division line, the division line information and
the division line information of current position basis at the
plurality of past time points which are stored about the division
line of the adjacent lane are used, the estimation accuracy of the
20 estimation division line information can be improved more than
when only the division line information of the own lane acquired
this time is used.
[0010]
The division line information of current position basis used
25 for estimation of the estimation division line information are the
9
division line information on the basis of the current position of
the own vehicle obtained by converting the division line
information acquired in the past based on the vehicle movement
information from the acquisition time point to the current time
5 point. Accordingly, the division line information of current
position basis at the plurality of time points in the each division
line become equivalent information with each other, if the each
division line information can be detected with good accuracy.
However, actually, there is variation due to detection error. By
10 estimating the one estimation division line information based on
the division line information of current position basis at the
plurality of time points, the influence of detection error can be
reduced more than when only the division line information acquired
this time is used, and accuracy can be improved.
15 [0011]
Also in the case where the shape of the division line of the
adjacent lane is different from the shape of the division line of
the own lane at the junction point and the branch point of road,
and the like, the division line information of the adjacent lane
20 at the plurality of past time points are used after changing the
division line. Accordingly, the estimation division line
information of the adjacent lane whose shape is different from the
own lane can be estimated with good accuracy. Or, although the
recognizability of the division line of the own lane is not good
25 due to existence of the preceding vehicle, visibility of the
10
division line, and the like, there is the case where the
recognizability of the division line of the adjacent lane is good.
In this case, after changing the division line, the estimation
division line information of the own lane can be estimated with
5 good accuracy using the past division line information of the
adjacent lane with good recognizability.
[0012]
Therefore, regardless of the presence or absence of change
of the division line of the own lane by the lane change, the
10 estimation division line information of the own lane can be
continuously estimated with good accuracy, and the positional
relationship of the own lane with respect to the own vehicle can
be recognized with good accuracy.
15 BRIEF DESCRIPTION OF THE DRAWINGS
[0013]
FIG. 1 is a schematic block diagram of the traveling lane
recognition apparatus according to Embodiment 1;
FIG. 2 is a hardware configuration figure of the traveling
20 lane recognition apparatus according to Embodiment 1;
FIG. 3 is a hardware configuration figure of the traveling
lane recognition apparatus according to Embodiment 1;
FIG. 4 is a flowchart for explaining schematic processing of
the traveling lane recognition apparatus according to Embodiment
25 1;
11
FIG. 5 is a figure for explaining the own vehicle coordinate
system according to Embodiment 1;
FIG. 6 is a figure explaining the movement information of the
own vehicle according to Embodiment 1;
5 FIG. 7 is a figure explaining the stored data of the movement
information of the own vehicle correlated with the history number
according to Embodiment 1;
FIG. 8 is a figure explaining the stored data of the division
line information correlated with the identification information of
10 division line and the history number according to Embodiment 1;
FIG. 9 is a figure explaining the stored data of the division
line information of current position basis correlated with the
identification information of division line and the history number
according to Embodiment 1;
15 FIG. 10 is a figure for explaining the behavior at the time
of lane change according to Embodiment 1;
FIG. 11 is a time chart explaining the processing at the time
of lane change according to Embodiment 1;
FIG. 12 is a figure explaining the change of the division
20 line information among the identification information of division
line at the time of the crossing determination of division line
according to Embodiment 1;
FIG. 13 is a figure explaining the change of the division
line information of current position basis among the
25 identification information of division line at the time of the
12
crossing determination of division line according to Embodiment 1;
FIG. 14 is a flowchart explaining the lane determination
storage processing according to Embodiment 1;
FIG. 15 is a flowchart explaining the division line
5 information estimation processing according to Embodiment 1;
FIG. 16 is a figure explaining the recognition of the own
lane based on the estimation division line information according
to Embodiment 1; and
FIG. 17 is a flowchart explaining the division line
10 information estimation processing according to Embodiment 2.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0014]
1. Embodiment 1
15 A traveling lane recognition apparatus 10 and a traveling
lane recognition method according to Embodiment 1 will be explained
with reference to drawings. FIG. 1 is a schematic block diagram
of the traveling lane recognition apparatus 10.
[0015]
20 The traveling lane recognition apparatus 10 is provided with
processing units such as a division line information acquisition
unit 11, a vehicle movement acquisition unit 12, a division line
information conversion unit 13, an own lane determination storage
unit 14, a division line information estimation unit 15, a
25 traveling lane recognition unit 16, and a steering control unit
13
17. Each processing of the traveling lane recognition apparatus
10 is realized by processing circuits provided in the traveling
lane recognition apparatus 10. As shown in FIG. 2, specifically,
the traveling lane recognition apparatus 10 is provided with an
5 arithmetic processor 90 such as CPU (Central Processing Unit),
storage apparatuses 91, an input and output circuit 92 which
outputs and inputs external signals to the arithmetic processor
90, and the like.
[0016]
10 As the arithmetic processor 90, ASIC (Application Specific
Integrated Circuit), IC (Integrated Circuit), DSP (Digital Signal
Processor), FPGA (Field Programmable Gate Array), GPU (Graphics
Processing Unit), AI (Artificial Intelligence) chip, various kinds
of logical circuits, various kinds of signal processing circuits,
15 and the like may be provided. As the arithmetic processor 90, a
plurality of the same type ones or the different type ones may be
provided, and each processing may be shared and executed. As the
storage apparatuses 91, a RAM (Random Access Memory) which can
read data and write data from the arithmetic processor 90, a ROM
20 (Read Only Memory) which can read data from the arithmetic
processor 90, and the like are provided. As the storage
apparatuses 91, various kinds of storage apparatus, such as a flash
memory, EEPROM (Electrically Erasable Programmable Read Only
Memory), a hard disk, and a DVD apparatus may be used.
25 [0017]
14
The input and output circuit 92 is provided with a
communication device, an A/D converter, an input/output port, a
driving circuit, and the like. The input and output circuit 92 is
connected to a periphery monitoring apparatus 31, a position
5 detection apparatus 32, a steering apparatus 24, a driving support
system 25, and the like, and communicates with these apparatuses.
[0018]
Then, the arithmetic processor 90 runs software items
(programs) stored in the storage apparatus 91 such as a ROM and
10 collaborates with other hardware devices in the traveling lane
recognition apparatus 10, such as the storage apparatus 91, and
the input and output circuit 92, so that the respective functions
of the processing units 11 to 17 included in the traveling lane
recognition apparatus 10 are realized. Setting data items such as
15 a threshold value to be utilized in the processing units 11 to 17
are stored, as part of software items (programs), in the storage
apparatus 91 such as a ROM. Each function of the traveling lane
recognition apparatus 10 will be explained in detail below.
[0019]
20 Alternatively, as shown in FIG. 3, the traveling lane
recognition apparatus 10 may be provided with a dedicated hardware
93 as the processing circuit, for example, a single circuit, a
combined circuit, a programmed processor, a parallel programmed
processor, ASIC, FPGA, GPU, AI chip, or a circuit which combined
25 these.
15
[0020]
FIG. 4 is a schematic flowchart for explaining the procedure
(the traveling lane recognition method) of processing of the
traveling lane recognition apparatus 10 according to the present
5 embodiment. The processing of the flowchart in FIG. 4 is
recurrently executed every predetermined operation period by the
arithmetic processor 90 executing software (a program) stored in
the storage apparatus 91. The calculation period is set to 0.01
seconds, for example.
10 [0021]
1-1. Division Line Information Acquisition Unit 11
In the step S01 of FIG. 4, the division line information
acquisition unit 11 executes a division line information
acquisition processing (a division line information acquisition
15 step) that acquires division line information regarding position
and shape of each division line on a basis of a position of an own
vehicle, about division lines of one or a plurality of lanes which
are recognizable in front of the own vehicle and include an own
lane which is a lane where the own vehicle is traveling, and a
20 lane adjacent to the own lane.
[0022]
The division line information acquisition unit 11 detects the
division line which can be recognized, and acquires division line
information, based on detection information of the periphery
25 monitoring apparatus 31. The periphery monitoring apparatus 31
16
includes a camera which monitors the front of the vehicle. Various
kinds of well-known image processing is performed to picture imaged
by the camera, and the division line of lane is recognized.
Although the division line is mainly a white line, it is not
5 limited to the white line, and a roadside object, such as a
guardrail, a pole, a road shoulder, and a wall, may be recognized
as the division line. As the periphery monitoring apparatus 31,
a laser radar may be used, and the white line may be recognized
from the points that the reflection luminance of the laser radar
10 is high.
[0023]
The division line information acquisition unit 11 acquires
the division line information regarding position and shape of each
recognized division line in the own vehicle coordinate system. As
15 shown in FIG. 5, the own vehicle coordinate system is a coordinate
system which sets the front direction and the lateral direction of
the own vehicle as two coordinate axes X and Y. The origin of the
own vehicle coordinate system is set at a vicinity of a center of
the own vehicle, such as a neutral steer point.
20 [0024]
In the present embodiment, as shown in FIG. 6, the division
line information acquisition unit 11 acquires, as the division
line information of the each division line, information including
a division line distance K0 which is a distance between the own
25 vehicle and a part of the division line located in a lateral
17
direction of the own vehicle, a division line angle K1 which is an
inclination of the part of the division line located in the lateral
direction of the own vehicle with respect to a front direction of
the own vehicle, and a curvature K2 of the division line. In the
5 present embodiment, a curvature change rate K3 of division line is
further included in the division line information. Using these
parameters K0 to K3 of the division line information, the position
of each division line in the own vehicle coordinate system can be
calculated by the next equation. That is to say, each division
10 line is approximated by an approximation equation expressed by a
third-order polynomial which sets the position Y in the lateral
direction and the position X in the front direction of the division
line in the own vehicle coordinate system as variables. Each order
coefficient is acquired as the parameters K0 to K3 indicating the
15 division line information. It may be approximated by a secondorder polynomial which does not have the third-order term of the
curvature change rate K3.
[0025]
20 As shown in FIG. 5, the division line information acquisition
unit 11 acquires the division line information of not only right
and left division lines of the own lane but also a division line
of a lane adjacent to the own lane.
[0026]
18
As described in detail later, for example, as shown in FIG.
8, the own lane determination storage unit 14 stores the division
line information (K0 to K3) of each division line acquired at each
time point, to the rewritable storage apparatus 91 such as RAM, by
5 correlating with identification information L1, R1, L2, R2 of each
division line and a history number n indicating acquisition time
point (n= 1, 2, ..., N-1, N). The history number n of the division
line information acquired this time is set to 1, and the history
number n is increased one by one, as the division line information
10 becomes old.
[0027]
1-2. Vehicle Movement Acquisition Unit 12
In the step S02 of FIG. 4, the vehicle movement acquisition
unit 12 executes a vehicle movement acquisition processing (a
15 vehicle movement acquisition step) that acquires vehicle movement
information regarding movement of the own vehicle from the
acquisition time point of the division line information to the
current time point. In the present embodiment, the vehicle
movement acquisition unit 12 acquires a moving distances ΔX and ΔY
20 in the front direction X and the lateral direction Y of the own
vehicle on the basis of the own vehicle (the own vehicle coordinate
system) at the acquisition time point of the division line
information, and a change amount of yaw angle Δθ, as the vehicle
movement information.
25 [0028]
19
The vehicle movement acquisition unit 12 acquires the vehicle
movement information, based on the detection information of the
position detection apparatus 32. As the position detecting
apparatus 32, a speed sensor, a yaw rate sensor, and the like are
5 provided. The speed sensor is a sensor which detects a travelling
speed (vehicle speed) of the own vehicle, and detects a rotational
speed of the wheels, and the like. An acceleration sensor may be
provided, and the travelling speed of vehicle may be calculated
based on acceleration. The yaw rate sensor is a sensor which
10 detects yaw rate information relevant to a yaw rate of the own
vehicle. As the yaw rate information, a yaw rate, a yaw angle, a
yaw moment, or the like is detected. If the yaw angle is timedifferentiated, the yaw rate can be calculated. If prescribed
calculation is performed using the yaw moment, the yaw rate can be
15 calculated.
[0029]
As shown in FIG. 6, the vehicle movement acquisition unit 12
calculates the moving distances ΔX and Δ Y of the own vehicle in
the own vehicle coordinate system at the acquisition time point of
20 the division line information, and the change amount of yaw angle
Δθ of the own vehicle, from the acquisition time point of division
line information to the current time point, based on detection
values of the vehicle speed and the yaw rate of the own vehicle.
[0030]
25 In the present embodiment, the vehicle movement acquisition
20
unit 12 calculates the moving distances ΔX and ΔY of the own
vehicle in the own vehicle coordinate system at the acquisition
time point of the division line information, and the change amount
of yaw angle Δθ of the own vehicle, from the plurality of past
5 time points when the division line information were acquired to
the current time point. The moving distances ΔX and ΔY and the
change amount of yaw angle Δθ are calculated by integrating the
detection values of the vehicle speed and the yaw rate of the own
vehicle which were detected at the plurality of past time points.
10 [0031]
For example, the vehicle movement acquisition unit 12
calculates the change amount of yaw angle Δθ by integrating the
yaw rate from the past time point to the current time point, and
calculates the moving distance ΔL by integrating the vehicle speed
15 from the past time point to the current time point. Then, as shown
in the next equation, the vehicle movement acquisition unit 12
divides the moving distance ΔL into a component ΔX in the front
direction X and a component ΔY in the lateral direction Y of moving
distance in the own vehicle coordinate system at the acquisition
20 time point of the division line information, using the change
amount of yaw angle Δθ. If Δθ is small, approximate operation can
be performed.
21
[0032]
Then, as shown in FIG. 7, the vehicle movement acquisition
unit 12 stores the moving distances ΔX and ΔY and the change amount
of yaw angle Δθ of the own vehicle from each acquisition time point
5 to the current time point, to the rewritable storage apparatus 91
such as RAM, by correlating with the history number n (n= 1, 2, ...,
N-1, N).
[0033]

10 There is a case where processing delay from the time point
when the periphery monitoring apparatus 31 detected the division
line, to the time point of processing the division line information
cannot be ignored. As the cause of this processing delay, there
are a processing time until the imaged picture of the camera and
15 the like is processed and the division line information is
calculated, a communication time necessary for communication, and
the like. If the processing delay is an ignorable level (for
example, about 0.01 sec), a time lag from the acquisition time
point of this time division line information to the current time
20 point can be ignored. On the other hand, if the processing delay
is an unignorable level (for example, about 0.1 sec), since the
vehicle moves several meters during its processing delay, the
moving distances ΔX and ΔY of the own vehicle and the change amount
of yaw angle Δθ are further integrated during its processing delay.
25 [0034]
22
1-3. Division Line Information Conversion Unit 13
In the step S03 of FIG. 4, the division line information
conversion unit 13 executes a division line information conversion
process (a division line information conversion step) that
5 converts a plurality of past division line information of the each
division line acquired at a plurality of past time points, into a
plurality of division line information of current position basis
of the each division line on a basis of a current position of the
own vehicle, based on the vehicle movement information.
10 [0035]
In the present embodiment, the division line information
conversion unit 13 converts the division line information of each
division line acquired at each time point, into the division line
information of current position basis of the each division line on
15 the basis of the current position of the own vehicle, based on the
vehicle movement information from the acquisition time point to
the current time point.
[0036]
As mentioned above, if the time lag from this time point when
20 detecting the division line to the current time point when
processing the division line information cannot be ignored, the
division line information conversion unit 13 also converts the
division line information of the each division line acquired this
time, into the division line information of current position basis
25 of the each division line on the basis of the current position of
23
the own vehicle, based on the vehicle movement information from
this time acquisition time point to the current time point.
[0037]
The division line information of current position basis of
5 the each division line at the plurality of time points become
equivalent information with each other, if each division line
information can be detected with good accuracy.
[0038]

10 The division line information conversion unit 13 converts the
division line distance K0, the division line angle K1, the
curvature of division line K2, and the curvature change rate of
division line K3 as the division line information acquired at each
time point, into a division line distance K0p, a division line
15 angle K1p, a curvature of division line K2p, and a curvature change
rate of division line K3p of current position basis on the basis
of the current position of the own vehicle, based on the moving
distances ΔX and ΔY, and the change amount of yaw angle Δθ of the
own vehicle from the acquisition time point of the division line
20 information to the current time point.
[0039]
In the following, the detail of conversion process will be
explained. The division line information conversion unit 13
executes a conversion process which converts the division line
25 information K0 to K3 of the each division line of each history
24
number n stored in the storage apparatus 91, into the division
line information of current position basis K0p to K3p, using the
vehicle movement information ΔX, Δ Y, Δθ of corresponding each
history number n.
5 [0040]

When traveling at high speed, the moving distance ΔY in the
lateral direction and the change amount of yaw angle Δθ become
small, and can be ignored. Accordingly, as shown in the next
10 equation, the division line information conversion unit 13
calculates the division line information K0p, K1p, K2p, K3p of
current position basis on the basis of the current own vehicle
coordinate system where the own vehicle moved by the distance ΔX
in the front direction X. This equation is obtained by
15 substituting X=Xp+ΔX and Y=Yp for the equation (1).
[0041]

On the other hand, when traveling at comparatively low speed,
20 such as the traffic congestion, the moving distance ΔY in the
lateral direction and the change amount of yaw angle Δθ becomes so
25
large that it cannot be ignored. Accordingly, as shown in the
next equation, the division line information conversion unit 13
calculates the division line information K0p, K1p, K2p, K3p of
current position basis on the basis of the current own vehicle
5 coordinate system where the own vehicle moved by the moving
distances ΔX and ΔY in the front direction X and the lateral
direction Y, and rotated by the change amount of yaw angle Δθ.
This equation is obtained by substituting X=Xp+Δx and Y=Yp+Δy for
the equation (1) and performing rotating coordinate conversion by
10 the change amount of yaw angle Δθ. At the time of high speed
traveling, the equation (4) may be used and the calculation result
similar to the equation (3) is obtained.
[0042]
15 Then, as shown in FIG. 9, the own lane determination storage
unit 14 described below stores the division line information K0p
to K3p of current position basis after conversion of the each
division line of each history number n, to the rewritable storage
apparatus 91 such as RAM, by correlating with the identification
20 information L1, R1, L2, R2, ... of the each division line, and the
history number n.
26
[0043]
1-4. Own Lane Determination Storage Unit 14
In the step S04 of FIG. 4, the own lane determination storage
unit 14 executes an own lane determination storage processing (an
5 own lane determination storage step) that determines a
correspondence relation between the own lane and the each division
line, based on the division line information of the each division
line acquired this time; and stores one or both (in this example,
both) of the division line information and the division line
10 information of current position basis at the plurality of time
points of the each division line, by correlating with the
correspondence relation between the own lane and the each division
line. As shown in FIG. 5, for example, as the correspondence
relation, the division line on the left side of the own lane is
15 determined as the left first division line L1; the division lines
on the further left side are determined as the left second division
line L2, the left third division line L3, and ..., in order; the
division line on the right side of the own lane is determined as
the right first division line R1; and the division lines on the
20 further right side are determined as the right second division
line R2, the right third division line R3, and ..., in order. When
there is no corresponding division line, it is determined that its
division line does not exist.
[0044]
25
The own lane determination storage unit 14 recognizes the
correspondence relation between the own lane and the each division
line, based on the division line distance K0 of the each division
5 line acquired this time.
[0045]
The own lane determination storage unit 14 recognizes the
division line which is closest to the own vehicle on the right
side of the own vehicle among the division line distances K0 of
10 the respective division lines, as the division line on the right
side of the own lane (the right first division line R1); and
recognizes the division line which is closest to the own vehicle
on the left side of the own vehicle among the division line
distances K0 of the respective division lines, as the division
15 line on the left side of the own lane (the left first division
line L1).
[0046]
In the present embodiment, the own lane determination storage
unit 14 recognizes the division line whose division line distance
20 K0 is smallest among the division lines whose division line
distances K0 are positive values, as the left first division line
L1 corresponding to the left side division line of the own lane;
recognizes the division line whose division line distance K0 is
the second smallest, as the left second division line L2; and
25 recognizes the division line whose division line distance K0 is
28
the third smallest, as the left third division line L3. The own
lane determination storage unit 14 recognizes the division line
whose absolute value of division line distance K0 is the smallest
among the division lines whose division line distance K0 are
5 negative values, as the right first division line R1 corresponding
to the right side division line of the own lane; recognizes the
division line whose absolute value of division line distance K0 is
the second smallest, as the right second division line R2; and
recognizes the division line whose absolute value of division line
10 distance K0 is the third smallest, as the right third division
line R3.
[0047]
FIG. 10 and FIG. 11 show a behavior when the own vehicle
which was traveling in the middle lane of the three lanes on one
15 side carries out a lane change to the right side lane. FIG. 10
shows the behavior of the own vehicle on the basis of the road,
and FIG. 11 shows the time chart of the division line distance K0
of each division line. At the time t0, the own vehicle is traveling
in the middle lane, the division line distance K0 of the left first
20 division line L1 and the division line distance K0 of the right
first division line R1 become a half of the lane width W2 of the
middle lane. After that, since the lane change to right side was
started, the absolute value of the division line distance K0 of
the right first division line R1 is decreasing, and the division
25 line distance K0 of the left first division line L1 is increasing.
29
[0048]
Then, at the time t1, the division line distance K0 of the
division line which was recognized as the right first division
line R1 becomes a positive value and becomes the division line
5 whose division line distance K0 is the smallest among the division
lines whose division line distances K0 are positive values, and it
is recognized as the left first division line L1. At the time t1,
the division line distance K0 of the division line which was
recognized as the left first division line L1 becomes the division
10 line whose division line distance K0 is the second smallest among
the division lines whose division line distances K0 are positive
values, and it is recognized as the left second division line L2.
At the time t1, the division line distance K0 of the division line
which was recognized as the right second division line R2 becomes
15 the division line whose absolute value of division line distance
K0 is the smallest among the division lines whose division line
distances K0 are negative values, and it is recognized as the right
first division line R1.
[0049]
20
In the present embodiment, the own lane determination storage
unit 14 determines whether or not the own vehicle crossed the
division line, based on the division line information of the each
25 division line; and changes the own lane into a lane after crossing
30
the division line, and changes the correspondence relation between
the own lane and the each division line, when determining that the
own vehicle crossed.
[0050]
5
For example, as shown in the next equation, (condition 1)
when a deviation ΔK0R1 between the division line distance K0R1_old
of the right first division line R1 acquired last time and the
division line distance K0R1 of the right first division line R1
10 acquired this time becomes within a range corresponding to the
lane width when performing the lane change to the right side lane;
or (condition 2) when the deviation ΔK0L1 between the division
line distance K0L1_old of the left first division line L1 acquired
last time and the division line distance K0L1 of the left first
15 division line L1 acquired this time becomes within a range
corresponding to the lane width when performing the lane change to
the right side lane, the own lane determination storage unit 14
determines that the own vehicle crossed the division line on the
right side and changed lane to the right side lane.
20 ΔK0R1=K0R1-K0R1_old
ΔK0L1=K0L1-K0L1_old
When (condition 1) -W3-ΔW<=ΔK0R1<=-W3+ΔW
or
(condition 2) -W2-ΔW<=ΔK0L1 <=-W2+ΔW
25 is established,
31
it is determined that the own vehicle changed lanes to the
right side lane.
... (5)
[0051]
5 The range corresponding to the lane width of the condition 1
is set to -W3-ΔW to -W3+ΔW. W3 is set to the lane width of the
lane which is a destination for right side lane change, for example,
it is set to a deviation between the division line distance
K0R1_old of the right first division line R1 acquired last time,
10 and the division line distance K0R2_old of the right second
division line R2 acquired last time. The range corresponding to
the lane width of the condition 2 is set to -W2-ΔW to -W2+ΔW. W2
is set to the lane width of the own lane before lane change, for
example, it is set to a deviation between the division line
15 distance K0L1_old of the left first division line L1 acquired last
time, and the division line distance K0R1_old of the right first
division line R1 acquired last time. ΔW is set to a prescribed
value, such as 0.1 m, or it is set to a prescribed ratio, such as
10%, of the lane width W3 or the lane width W2.
20 [0052]
Furthermore, as shown in the next equation, (condition 1)
when the division line distance K0R1_old of the right first
division line R1 acquired last time is closer to 0 than a
determination value ΔWm, and a deviation ΔK0R1 between the division
25 line distance K0R1_old of the right first division line R1 acquired
32
last time and the division line distance K0R1 of the right first
division line R1 acquired this time becomes within a range
corresponding to a lane width when performing the lane change to
the right side; or (condition 2) when the division line distance
5 K0L1_old of the left first division line L1 acquired last time is
closer to the lane width W2 than the determination value ΔWm, and
a deviation ΔK0L1 between the division line distance K0L1_old of
the left first division line L1 acquired last time and the division
line distance K0L1 of the left first division line L1 acquired
10 this time becomes within a range corresponding to the lane width
when performing the lane change to the right side, the own lane
determination storage unit 14 may determine that the own vehicle
crossed the division line on the right side, and changed lane to
the right side lane.
15 ΔK0R1=K0R1-K0R1_old
ΔK0L1=K0L1-K0L1_old
When (Condition 1) -ΔWm<=K0R1_old<=ΔWm, and
-W3-ΔW<=ΔK0R1<=-W3+ΔW
or
20 (Condition 2) W2-ΔWm<=K0L1_old<=W2+ΔWm, and
-W2-ΔW<=ΔK0L1<=-W2+ΔW
is established,
it is determined that the own vehicle changed lane to the
right side lane.
25 ... (6)
33
[0053]
ΔWm may be set to the same value as ΔW, or may be set to a
different value. Alternatively, a speed at which the own vehicle
approaches the division line may be calculated based on the vehicle
5 speed and the division line angle K1 of the corresponding division
line, and ΔWm and ΔW may be set according to the approach speed to
the division line. For example, if the approach speed to the
division line is large, a change amount of the division line
distance K0 during the calculation period becomes large, the
10 division line distance K0 changes beyond the determination range,
before and after crossing the division line, and the crossing
determination of the division line may not be performed. However,
the crossing of the division line can be certainly determined by
changing the determination range according to the approach speed
15 to the division line.
[0054]

As shown in the next equation, (condition 3) when a deviation
ΔK0L1 between the division line distance K0L1_old of the left first
20 division line L1 acquired last time and the division line distance
K0L1 of the left first division line L1 acquired this time becomes
within a range corresponding to the lane width when performing the
lane change to the left side lane; or (condition 4) when a
deviation ΔK0R1 between the division line distance K0R1_old of the
25 right first division line R1 acquired last time and the division
34
line distance K0R1 of the right first division line R1 acquired
this time becomes within a range corresponding to the lane width
when performing the lane change to the left side lane, the own
lane determination storage unit 14 determines that the own vehicle
5 crossed the division line on the left side and changed lane to the
left side lane.
ΔK0L1=K0L1-K0L1_old
ΔK0R1=K0R1-K0R1_old
When (Condition 3) W1-ΔW<=ΔK0L1<=W1+ΔW
10 or
(Condition 4) W2-ΔW<=ΔK0R1<=W2+ΔW
is established,
it is determined that the own vehicle changed lane to the
left side lane.
15 ... (7)
[0055]
The range corresponding to the lane width of the condition 3
is set to from W1-ΔW to W1+ΔW. W1 is set to the lane width of the
lane which is a destination for left side lane change, for example,
20 it is set to a deviation between the division line distance
K0L2_old of the left second division line L2 acquired last time,
and the division line distance K0L1_old of the left first division
line L1 acquired last time. The range corresponding to the lane
width of the condition 4 is set to from W2-ΔW to W2+ΔW. ΔW is set
25 to a prescribed value, such as 0.1 m, or it is set to a prescribed
35
ratio, such as 10%, of the lane width W3 or the lane width W2.
[0056]
Furthermore, as shown in the next equation, (condition 3)
when the division line distance K0L1_old of the left first division
5 line L1 acquired last time is closer to 0 than the determination
value ΔWm, and a deviation ΔK0L1 between the division line distance
K0L1_old of the left first division line L1 acquired last time and
the division line distance K0L1 of the left first division line L1
acquired this time becomes within a range corresponding to the
10 lane width when performing the lane change to the left side; or
(condition 4) when the division line distance K0R1_old of the right
first division line R1 acquired last time is closer to the lane
width W2 than the determination value ΔWm, and a deviation ΔK0R1
between the division line distance K0R1_old of the right first
15 division line R1 acquired last time and the division line distance
K0R1 of the right first division line R1 acquired this time becomes
within a range corresponding to the lane width when performing the
lane change to the left side, the own lane determination storage
unit 14 may determine that the own vehicle crossed the division
20 line on the left side, and changed lane to the left side lane.
ΔK0L1=K0L1-K0L1_old
ΔK0R1=K0R1-K0R1_old
When (Condition 3) -ΔWm<=K0L1_old<=ΔWm, and
W1-ΔW<=ΔK0L1 <=W1+ΔW
25 or
36
(Condition 4) -W2-ΔWm<=K0R1_old<=-W2+ΔWm, and
W2-ΔW<=ΔK0R1 <=W2+ΔW
is established,
it is determined that the own vehicle changed lane to the
5 left side lane.
... (8)
[0057]
When both of the condition 1 and the condition 2 are
established, the own lane determination storage unit 14 may
10 determine that the own vehicle crossed the division line on the
right side, and changed lane to the right side lane. Similarly,
when both of the condition 3 and the condition 4 are established,
the own lane determination storage unit 14 may determine that the
own vehicle crossed the division line on the left side, and changed
15 lane to the left side lane. However, when one division line is
not detected, the crossing determination of the division line
cannot be performed. In this case, although the correspondence
relation between the own lane and the each division line is not
changed, a processing corresponding to the deviation or the
20 variance described below becoming large is performed. As the
result, the vehicle control can be prevented from being performed
based on the division line information which changed suddenly.
[0058]
In the case where it is determined that the own vehicle
25 crossed the division line on the right side and changed lane to
37
the right side lane when the condition 1 or the condition 2 is
established, when the condition 1 and the condition 2 are not
actually established at the same time due to some factor, there is
a possibility that change of the division line information of one
5 which was delayed in the switching timing may not be performed
appropriately. However, processing for dealing with the case where
the deviation or the variance becomes large is performed, and the
inappropriate division line information can be prevented from
being used. As the result, the vehicle control can be prevented
10 from being performed based on the inappropriate division line
information. The same applies to determination of the condition
3 and the condition 4.
[0059]

As mentioned above, the own lane determination storage unit
14 stores one or both (in this example, both) of the division line
information and the division line information of current position
basis, at the plurality of time points of the each division line,
20 by correlating with the correspondence relation between the own
lane and the each division line which were determined this time.
In the present embodiment, the own lane determination storage unit
14 stores one or both of the division line information and the
division line information of current position basis, at the
25 plurality of time points of the each division line, by correlating
38
with the identification information of each division line on the
basis of the own lane. As the identification information of each
division line on the basis of the own lane, the left first division
line L1, the right first division line R1, the left second division
5 line L2, the right second division line R2, the left third division
line L3, the right third division line R3, and the like mentioned
above are used.
[0060]
For example, as shown in FIG. 8 and FIG. 9, the own lane
10 determination storage unit 14 stores the division line information
(K0 to K3) and the division line information of current position
basis (K0p to K3p) of each division line acquired at each time
point to the rewritable storage apparatus 91 such as RAM, by
correlating with identification information L1, R1, L2, R2 of each
15 division line and a history number n indicating acquisition time
point (n= 1, 2, ..., N-1, N). When there is identification
information of division line where the division line information
is not acquired, the division line information of its
identification information is made blank.
20 [0061]
The history number n of the division line information
acquired this time is set to 1, and the history number n is
increased one by one, as the division line information becomes old.
That is to say, the division line information acquired this time
25 is stored by correlating with the history number n = 1, and the
39
history number n of the division line information already stored
is increased by one. The number of the plurality of time points
to be stored, that is, the maximum number N of the history number
n, is set to a prescribed value, for example, 10. Accordingly,
5 the division line information older than the history number n = 10
is deleted.
[0062]
When determining that the correspondence relation between the
own lane and the each division line changed, the own lane
10 determination storage unit 14 changes one or both (in this example,
both) of the division line information and the division line
information of current position basis at the plurality of time
points of the each division line which were stored by correlating
with the identification information of the each division line,
15 among the identification information of the each division line, so
as to correspond to the correspondence relation after change. As
shown in FIG. 12 and FIG. 13, for example, when it is determined
that the own vehicle crossed the division line on the right side
of the own lane, the division line information and the division
20 line information of current position basis of the each division
line which were stored at the plurality of past time points are
changed to the division line information of the division line on
the just left side.
[0063]
25 As the maximum number N of the stored time points increases,
40
the estimation division line information described below is
stabilized, but the storage area and the computation load increase.
If the maximum number N of the stored time points increases too
much, the old division line information obtained by detecting the
5 division line in the vicinity of the current position at the past
position of the own vehicle is used, and accuracy of the estimation
division line information is deteriorated. It is not appropriate
to use the division line information ahead more than the maximum
distances (for example, 100 m) capable of detecting the division
10 line in front of the own vehicle according to the performance of
the camera, and the like. Accuracy of the division line
information detected at the past position of the own vehicle
exceeding the maximum distance is deteriorated. Accordingly, the
maximum number N of the stored time points may be set to an
15 appropriate number capable of obtaining estimation accuracy of the
estimation division line information, considering the acquisition
period, the vehicle speed, the detection maximum distance of camera,
and the like.
[0064]
20 On the other hand, even when it is not exceeded the detection
maximum distance of camera, for example, when visibility is bad
due to a sharp curve and the like, or when an inclination between
the own vehicle and the division line is large and the
photographing area of the division line becomes narrow, or when
25 the division line is hidden by the preceding vehicle, accuracy of
41
the division line information newer than the time point
corresponding to the detection maximum distance of camera is also
deteriorated.
[0065]
5
Accordingly, the own lane determination storage unit 14 may
change the maximum number N of the plurality of stored time points
of one or both of the division line information and the division
10 line information of current position basis of the each division
line, according to the detection state of the each division line.
As the detection state of the division line becomes good, the
maximum number N of stored time points is increased. As the
detection state of the division line becomes bad, the maximum
15 number N of stored time points is decreased. For example, as the
detection state of the division line, the division line angle of
division line K1 and the curvature of division line K2 are used.
As the absolute values of the division line angle K1 and the
curvature of division line K2 become large, the detection state of
20 the division line becomes bad. As the detection state of the
division line, the vehicle distance to the preceding vehicle may
be detected by the camera or the radar. As the vehicle distance
becomes short, the detection state of the division line becomes
bad. As the detection state of the division line, the maximum
25 recognition distance in front of the own vehicle where the division
42
line is recognized by the camera is used. As the maximum
recognition distance becomes long, the detection state of the
division line becomes good. These plurality of parameters of the
detection state of the division line may be used selectively, or
5 may be used comprehensively.
[0066]

Using the flowchart of FIG. 14, the own lane determination
storage processing according to the present embodiment will be
10 explained. In the step S11, the own lane determination storage
unit 14 determines whether or not the own vehicle is during
execution of the lane change to the right side lane or the left
side lane. When determining that it is during execution of the
lane change, it advances to the step S12 and performs the crossing
15 determination of the division line, and when determining that it
is not during execution of the lane change, the own lane
determination storage processing is ended.
[0067]
In the present embodiment, it is assumed that the driving
20 support system 25 which performs the lane change automatically is
mounted. When the driving support system 25 determines to carry
out the lane change to the right side lane or the left side lane
for traveling to the destination or according to the periphery
traveling state, and is executing the lane change, it is determined
25 that it is during execution of the lane change. The driving
43
support system 25 turns on the direction indicator corresponding
to its lane change direction, when the execution of lane change is
determined.
[0068]
5 If a system which performs driving support of lane change by
setting a lane change instruction of driver as a starting point is
assumed, when there is a requirement of lane change of driver
detected by operation of the direction indicator or other means,
it is determined that it is during execution of the lane change.
10 [0069]
Even in other than during execution of the lane change, the
crossing determination of the division line may be performed. Even
in the lane change and the crossing of the division line without
operation of the direction indicator and the like, the crossing
15 determination of the division line may be performed.
[0070]
In the step S12, as mentioned above, the own lane
determination storage unit 14 determines whether or not the own
vehicle crossed the division line of the left side or the right
20 side, based on the division line information of the each division
line. When determining that it crossed the division line, it
advances to the step S13, and when determining that it did not
cross the division line, the own lane determination storage
processing is ended.
25 [0071]
44
In the step S13, as mentioned above, the own lane
determination storage unit 14 changes the own lane into a lane
after crossing the division line, and changes the correspondence
relation between the own lane and the each division line. Then,
5 the own lane determination storage unit 14 changes the division
line information at the plurality of time points which were stored
by correlating with the identification information of the each
division line, among the identification information of the each
division line, so as to correspond to the correspondence relation
10 after change.
[0072]
1-5. Division Line Information Estimation Unit 15
In the step S05 of FIG. 4, the division line information
estimation unit 15 executes a division line information estimation
15 processing (a division line information estimation step) that
estimates estimation division line information which is one
division line information, based on the division line information
of current position basis at the plurality of time points, about
each of the division line on the left side and the division line
20 on the right side of the own lane.
[0073]
Using the flowchart of FIG. 15, the division line information
estimation processing according to the present embodiment will be
explained. About each of the division line on the left side and
25 the division line on the right side of the own lane, the processing
45
of the flowchart of FIG. 15 is executed. In the following,
although the division line on the left side of the own lane is
explained as a representative, similar processing is performed for
the division line on the right side of the own lane. In the
5 present embodiment, similar processing is performed also for the
division line of the adjacent lane.
[0074]
In the step S21, the division line information estimation
unit 15 determines whether or not a number of the division line
10 information of current position basis of the division line on the
left side of the own vehicle (the left first division line L1)
stored in the storage apparatus 91 exists a preliminarily set lower
limit number or more. When it exists the lower limit number or
more, it advances to the step S22, When it does not exist the lower
15 limit number or more, the processing is ended without estimating
the estimation division line information of the division line on
the left side of the own vehicle.
[0075]
If the number of the division line information of current
20 position basis used for calculation of the estimation division
line information is too small, it is easily subject to influence
of the detection variation of the division line information, and
accuracy of the estimation division line information may become
low. On the other hand, If it waits too much until the number of
25 division line information of current position basis increases, a
46
time lag until the estimation division line information is
calculated after starting detection of the division line becomes
large too much, and a difficulty occurs in control of the steering
control unit 17 described below. Accordingly, the lower limit
5 number is set to a number that accuracy of the estimation division
line information is not deteriorated too much and a difficulty
does not occurs in control of the steering control unit 17, for
example, it is set to 5.
[0076]
10 In the present disclosure, the division line information that
the own lane and the adjacent lane can be recognized is acquired;
the division line information of the adjoining division line at
the plurality of time points are taken over as the division line
information of the division line of the own lane even after the
15 crossing of the division line was determined; and the division
line information of current position basis of the division line of
the own lane at the plurality of time points are calculated.
Accordingly, even just after crossing the division line, the number
of the division line information of current position basis does
20 not decrease, and the estimation division line information can be
calculated.
[0077]
In the step S22, about the division line on the left side of
the own vehicle (the left first division line L1), the division
25 line information estimation unit 15 estimates the past estimation
47
division line information which is one division line information,
based on the division line information of current position basis
at the plurality of time points (history number n<=2) older than
this time which are stored in the storage apparatus 91. The
5 division line information estimation unit 15 calculates the one
past estimation division line information by performing an
averaging processing of the division line information of current
position basis at the plurality of time points older than this
time. As the averaging processing, a simple averaging may be
10 performed, or a weighted averaging may be performed. If the
weighted averaging is performed, since the newer information is
closer to the current state, a weight to information at newer time
point is enlarged.
[0078]
15 The division line information estimation unit 15 calculates
a division line distance K0eo, a division line angle K1eo, a
curvature of division line K2eo, and a curvature change rate of
division line K3eo of past estimation, by performing the averaging
processing of values at the plurality of time points older than
20 this time, about each parameter of the division line distance K0p,
the division line angle K1p, the curvature of division line K2p,
and the curvature change rate of division line K3p of current
position basis.
[0079]
25 Then, in the step S23, the division line information
48
estimation unit 15 determines whether or not a deviation (absolute
value) between this time division line information of current
position basis and the past estimation division line information
of the division line on the left side of the own vehicle is less
5 than or equal to a deviation threshold value. When determining
that it is less than or equal to the deviation threshold value, it
advances to the step S24, and when determining that it is not less
than or equal to the deviation threshold value, it advances to the
step S25.
10 [0080]
In this way, by determining the magnitude of the deviation,
detection accuracy and reliability of this time division line
information can be determined on the basis of the past estimation
division line information calculated based on the information at
15 the plurality of time points older than this time.
[0081]
In the present embodiment, the division line information
estimation unit 15 calculates a deviation (absolute value) between
this time value of current position basis and a value of past
20 estimation, about each parameter of the division line distance K0,
the division line angle K1, the curvature of division line K2, and
the curvature change rate of division line K3; and determines
whether or not the deviation of each parameter is less than or
equal to a deviation threshold value which is set for each
25 parameter. When there is the parameter determined not to be less
49
than or equal to the deviation threshold value, the division line
information estimation unit 15 determines that it is not less than
or equal to the deviation threshold value, and advances to the
step S25. When there is no parameter determined not to be less
5 than or equal to the deviation threshold value, the division line
information estimation unit 15 determines that it is less than or
equal to the deviation threshold value, and advances to the step
S24.
[0082]
10 The deviation threshold value of each parameter is
preliminarily set, considering the calculation period, the change
of road structure, and the like. The parameters with high
importance for the steering control unit 17 described below, for
example, the division line distance K0, the division line angle
15 K1, and the like are used for determination. The parameters with
low importance, for example, the curvature change rate of division
line K3 may not be used for determination. Alternatively, the
deviation threshold value of the parameter with low importance may
be set higher.
20 [0083]
When the correspondence relation between the own lane and the
each division line which was determined by the own lane
determination storage unit 14 changed, the division line
information estimation unit 15 may decrease the deviation
25 threshold value rather than when it is not changing. When the
50
crossing of the division line was determined, the division line
information is changed among the identification information of
each division line. Accordingly, the division line information
may become discontinuous due to the determination error. It
5 becomes easy to exclude the division line information which became
discontinuous, by decreasing the deviation threshold value.
[0084]
In the step S24, about the division line on the left side of
the own lane (the left first division line L1), the division line
10 information estimation unit 15 estimates one estimation division
line information, based on the division line information of current
position basis at the plurality of time points including this time
which are stored in the storage apparatus 91. The division line
information estimation unit 15 calculates the one estimation
15 division line information, by performing an averaging processing
of the division line information of current position basis at the
plurality of time points including this time. As the averaging
processing, a simple averaging may be performed, or a weighted
averaging may be performed. If the weighted averaging is performed,
20 since the newer information is closer to the current state, a
weight to information at newer time point is enlarged.
[0085]
In the present embodiment, the division line information
estimation unit 15 calculates a division line distance K0e, a
25 division line angle K1e, a curvature of division line K2e, and a
51
curvature change rate of division line K3e of estimation, by
performing the averaging processing of the values at the plurality
of time points including this time, about each parameter of the
division line distance K0p, the division line angle K1p, the
5 curvature of division line K2p, and the curvature change rate of
division line K3p of current position basis.
[0086]
In this way, when determining that the detection accuracy of
the division line information acquired this time is not bad, the
10 estimation division line information is calculated including the
division line information of current position basis acquired this
time, this time information of the division line is reflected, and
estimation accuracy can be improved.
[0087]
15 In the step S25, the division line information estimation
unit 15 calculates the past estimation division line information
as the estimation division line information. That is to say, this
time division line information of current position basis whose
detection accuracy is bad is excluded, and the estimation division
20 line information is estimated based on the division line
information of current position basis at the plurality of time
points older than this time.
[0088]
In this way, when determining that the detection accuracy of
25 this time division line information is bad, estimation accuracy
52
can be prevented from being deteriorated, by excluding this time
division line information and calculating the estimation division
line information.
[0089]
5 In the step S26, the division line information estimation
unit 15 deletes the division line information which correspond to
this time division line information of current position basis of
the division line on the left side of the own lane (the left first
division line L1) and are stored by the own lane determination
10 storage unit 14, from the storage apparatus 91. The division line
information estimation unit 15 deletes this time division line
information of current position basis of the division line on the
left side of the own lane (the left first division line L1), from
the storage apparatus 91.
15 [0090]
According to this configuration, since the division line
information which is determined that detection accuracy is bad is
deleted from the storage apparatus 91, in the calculation on and
after next time, it can avoid using the division line information
20 whose detection accuracy is bad, and estimation accuracy of the
estimation division line information can be improved.
[0091]
In the above, the case where processing is performed about
the division line on the left side of the own lane (the left first
25 division line L1) was explained as the example. Also about the
53
division line on the right side of the own lane (the right first
division line R1), similar processing of the flowchart of FIG. 15
is performed. In the present embodiment, similar processing is
performed also about each division line of adjacent lane.
5 [0092]
1-6. Traveling Lane Recognition Unit 16
In the step S06 of FIG. 4, the traveling lane recognition
unit 16 executes a traveling lane recognition processing (a
traveling lane recognition step) that recognizes the positional
10 relationship of the own lane with respect to the own vehicle, based
on the estimation division line information of each of the division
line on the left side and the division line on the right side of
the own lane. In the present embodiment, the traveling lane
recognition unit 16 also recognizes the positional relationship of
15 the adjacent lane with respect to the own vehicle, based on the
estimation division line information of the division line of the
adjacent lane. The recognized positional relationship (the
estimation division line information) of the own lane and the
adjacent lane with respect to the own vehicle is transmitted to
20 the steering control unit 17, the driving support system 25, and
the like which are described below. It may be transmitted to the
apparatus outside the vehicle.
[0093]
In the present embodiment, as shown in FIG. 16, the traveling
25 lane recognition unit 16 recognizes the shape of the division line
54
on the left side of the own vehicle in the own vehicle coordinate
system corresponding to the current position of the own vehicle,
based on the division line distance K0e, the division line angle
K1e, the curvature of division line K2e, and the curvature change
5 rate of division line K3e of estimation of the division line on
the left side of the own lane (the left first division line L1);
and recognizes the shape of the division line on the right side of
the own vehicle, based on the division line distance K0e, the
division line angle K1e, the curvature of division line K2e, and
10 the curvature change rate of division line K3e of estimation of
the division line on the right side of the own lane (the right
first division line R1).
[0094]
1-7. Steering Control Unit 17
15 The steering control unit 17 executes a steering control
processing (a steering control step) that performs one or both of
a steering control which controls a steering angle of wheels, and
a lane deviation informing which informs deviation of the own
vehicle from the own lane, to the driver, based on the positional
20 relationship of the own lane with respect to the own vehicle which
was recognized by the traveling lane recognition unit 16.
[0095]

When performing a lane keeping control, the steering control
25 unit 17 calculates a command value of the steering angle of wheels
55
which makes the own vehicle keep and travel the current own lane,
based on the positional relationship of the own lane with respect
to the own vehicle and the vehicle speed; and transmits it to the
steering apparatus 24. When performing a lane change control, the
5 steering control unit 17 calculates the command value of the
steering angle of wheels which makes the own vehicle change lane,
based on the positional relationship of the own lane and the
adjacent lane with respect to the own vehicle, the target travel
route with respect to the own lane and the adjacent lane, and the
10 vehicle speed; and transmits it to the steering apparatus 24. The
steering control unit 17 may perform the lane keeping control or
the lane change control according to the instruction of the lane
keeping or the lane change determined by the driving support system
25 mentioned above; or may perform the lane keeping control or the
15 lane change control according to the instructions of the lane
keeping or the lane change from the driver. The lane keeping
control or the lane change control may be provided as a part of
automatic driving function of the automatic driving vehicle.
[0096]
20 The steering apparatus 24 is an electric power steering
apparatus, and manipulates the steering angle of wheels by a
driving force of an electric motor. The steering apparatus 24
performs driving control of the electric motor so that an actual
steering angle follows the command value of the steering angle.
25 [0097]
56

The steering control unit 17 informs deviation of the own
vehicle from the own lane to the driver via the informing device,
when determining that there is possibility that the own vehicle
5 deviate from the own lane, based on the positional relationship of
the own lane with respect to the own vehicle, the vehicle speed,
and the like. The informing device is a loudspeaker, a display,
a vibrator, and the like.
[0098]
10
According to the traveling lane recognition apparatus and the
traveling lane recognition method of Embodiment 1, the division
line information of one or a plurality of division lines which are
recognizable in front of the own vehicle and include the own lane
15 and the adjacent lane are recognized, and the correspondence
relation between the own lane and the each division line is
determined. Then, the division line information at the plurality
of time points of the each division line which were acquired at
the plurality of time points of this time and past are stored by
20 correlating with the correspondence relation. Accordingly, not
only the division line information of the own lane but also the
division line information of the adjacent lane are stored and
accumulated.
[0099]
25 Then, also in the case where the division line of the own
57
lane is changed by crossing the division line with the lane change,
by changing the correspondence relation between the own lane and
the each division line, the division line information of the
adjacent lane detected in the past is changed into the division
5 line information of the own lane, the division line information is
converted into the division line information of current position
basis, and the estimation division line information of the own
lane can be estimated. Accordingly, even when the division line
of the own lane is changed by the lane change, the estimation
10 division line information of the own lane can be calculated
continuously without interruption, and the positional relationship
of the own lane with respect to the own vehicle can be recognized.
[0100]
Since, in the case of changing the division line, the division
15 line information at the plurality of past time points which are
stored about the division line of the adjacent lane are used, the
estimation accuracy of the estimation division line information
can be improved more than when only the division line information
of the own lane acquired this time is used.
20 [0101]
The division line information of current position basis used
for estimation of the estimation division line information are the
division line information on the basis of the current position of
the own vehicle obtained by converting the division line
25 information acquired in the past based on the vehicle movement
58
information from the acquisition time point to the current time
point. Accordingly, the division line information of current
position basis at the plurality of time points in the each division
line become equivalent information with each other, if the each
5 division line information can be detected with good accuracy.
Accordingly, by estimating the one estimation division line
information based on the division line information of current
position basis at the plurality of time points, the influence of
detection error can be reduced more than when only the division
10 line information acquired this time is used, and accuracy can be
improved.
[0102]
Also in the case where the shape of the division line of the
adjacent lane is different from the shape of the division line of
15 the own lane at the junction point and the branch point of road,
and the like, the division line information of the adjacent lane
at the plurality of past time points are used after changing the
division line. Accordingly, the estimation division line
information of the adjacent lane whose shape is different from the
20 own lane can be estimated with good accuracy. Since the division
line distance K0, the division line angle K1, the curvature of
division line K2, and the curvature change rate of division line
K3 are used as the division line information, the difference in
shape of each division line can be estimated in detail with good
25 accuracy. Or, although the recognizability of the division line
59
of the own lane is not good due to existence of the preceding
vehicle, visibility of the division line, and the like, there is
the case where the recognizability of the division line of the
adjacent lane is good. In this case, after changing the division
5 line, the estimation division line information of the own lane can
be estimated with good accuracy using the past division line
information of the adjacent lane with good recognizability.
[0103]
Therefore, regardless of the presence or absence of change
10 of the division line of the own lane by the lane change, the
estimation division line information of the own lane can be
continuously estimated with good accuracy, and the positional
relationship of the own lane with respect to the own vehicle can
be recognized with good accuracy.
15 [0104]
2. Embodiment 2
Next, the traveling lane recognition apparatus 10 and the
traveling lane recognition method according to Embodiment 2 will
be explained. The explanation for constituent parts the same as
20 those in Embodiment 1 will be omitted. The basic configuration of
the traveling lane recognition apparatus 10 and the traveling lane
recognition method according to the present embodiment is the same
as those of Embodiment 1. Embodiment 2 is different from
Embodiment 1 in a part of processing of the division line
25 information estimation unit 15.
60
[0105]
The division line information estimation processing according
to the present embodiment will be explained using the flowchart of
FIG. 17. About each of the division line on the left side and the
5 division line on the right side of the own lane, the processing of
the flowchart of FIG. 17 is executed. In the following, although
the division line on the left side of the own lane is explained as
a representative, similar processing is performed for the division
line on the right side of the own lane. In the present embodiment,
10 similar processing is performed also about division line of the
adjacent lane.
[0106]
In the step S31, similarly to the step S21 of FIG. 15 of
Embodiment 1, the division line information estimation unit 15
15 determines whether or not a number of the division line information
of current position basis of the division line on the left side of
the own vehicle (the left first division line L1) stored in the
storage apparatus 91 exists a preliminarily set lower limit number
or more. When it exists the lower limit number or more, it advances
20 to the step S32, and when it does not exist the lower limit number
or more, the processing is ended without estimating the estimation
division line information of the division line on the left side of
the own vehicle.
[0107]
25 In the step S32, the division line information estimation
61
unit 15 calculates a variation degree of the division line
information of current position basis at the plurality of time
points of this time and the past, about the division line on the
left side of the own lane (the left first division line L1); and
5 determines whether or not the variation degree is less than or
equal to a variation threshold value. When determining that the
variation degree is not less than or equal to the variation
threshold value, the division line information estimation unit 15
advances to the step S33 and deletes the division line information
10 at the plurality of time points of this time and the past of the
division line on the left side of the own lane (the left first
division line L1) stored in the storage apparatus 91, and ends
processing without estimating the estimation division line
information. On the other hand, when determining that the
15 variation degree is less than or equal to the variation threshold
value, the division line information estimation unit 35 advances
to the step S34.
[0108]
As the variation degree, a variance is calculated. As the
20 variation degree, a standard deviation may be calculated. However,
since the standard deviation requires a square root calculation,
the calculation processing load can be reduced by using the
variance.
[0109]
25 In the present embodiment, about each of the division line
62
distance K0, the division line angle K1, the curvature of division
line K2, and the curvature change rate of division line K3, the
division line information estimation unit 15 calculates the
variation degree DK0p, DK1p, DK2p, DK3p of values at the plurality
5 of time points of this time and the past, about each parameter of
the division line distance K0p, the division line angle K1p, the
curvature of division line K2p, and the curvature change rate of
division line K3p of current position basis; and determines whether
or not the variation degree of each parameter is less than or equal
10 to the variation threshold value which is set about each parameter.
When there is the parameter determined not to be less than or equal
to the variation threshold value, the division line information
estimation unit 15 determines that it is not less than or equal to
the variation threshold value, and advances to the step S33. When
15 there is no parameter determined not to be less than or equal to
the variation threshold value, the division line information
estimation unit 15 determines that it is less than or equal to the
variation threshold value, and advances to the step S34.
[0110]
20 Since the plurality of stored division line information are
deleted when it is determined not to be less than or equal to the
variation threshold value, a time lag until the estimation division
line information is estimated and outputted in the next time occurs.
Accordingly, a setting value of the variation threshold value may
25 be a value determined that it is less than or equal to the variation
63
threshold value in the normal condition, and a value determined
that it is not less than or equal to the variation threshold value
in the abnormal condition where the detecting state is deteriorated
and erroneous detection occurs frequently.
5 [0111]
The parameters with high importance for the steering control
unit 17 described below, for example, the division line distance
K0, the division line angle K1, and the like are used for
determination. The parameters with low importance, for example,
10 the curvature change rate of division line K3 may not be used for
determination. Alternatively, the variation threshold value of
the parameter with low importance may be set higher.
[0112]
When the correspondence relation between the own lane and the
15 each division line which was determined by the own lane
determination storage unit 14 changes, the division line
information estimation unit 15 may decrease the variation
threshold value than when the correspondence relation does not
change. Since the division line information is moved among the
20 identification information of each division line when the crossing
of the division line was determined, the division line information
may become discontinuous due to the determination error. By
decreasing the variation threshold value, it becomes easy to
exclude the division line information which became discontinuous.
25 [0113]
64
Since the processing from the step S34 to the step S38 which
is executed when it is determined to be less than or equal to the
variation threshold value is the same as the processing from the
step S21 to the step S28 of FIG. 15 of Embodiment 1, explanation
5 is omitted.
[0114]

According to the traveling lane recognition apparatus and the
traveling lane recognition method of Embodiment 2, the plurality
10 of division line information of the division line whose detection
state is bad and whose variation degree is larger than the
variation threshold value are deleted, and it can avoid estimating
inaccurate estimation division line information. Accordingly, the
positional relationship of the own lane with respect to the own
15 vehicle can be prevented from being recognized using inaccurate
estimation division line information.
[0115]

(1) The traveling lane recognition apparatus explained above
20 can be applied also to a traveling lane recognition system which
is constructed as a system, by appropriately combining a navigation
apparatus such as PND (Portable Navigation Device), a
communication terminal device including a portable terminal device
such as a mobile phone, a smart phone, and a tablet, a function of
25 application installed in these, and a server. In this case, each
65
function or each component of the traveling lane recognition
apparatus explained above may be distributedly arranged to each
apparatus which constructs the system, or may be collectively
arranged to any one of apparatuses.
5 [0116]
(2) In each of the above-mentioned Embodiments, there has
been explained the case where the division line information
conversion unit 13 converts the division line information of each
division line acquired at each time point, into the division line
10 information of current position basis of the each division line on
the basis of the current position of the own vehicle, based on the
vehicle movement information from the acquisition time point to
the current time point. However, embodiments of the present
disclosure are not limited to the foregoing case. That is to say,
15 the division line information conversion unit 13 may convert the
division line information of current position basis at the
plurality of time points of the each division line calculated at
the last time calculation period, into the division line
information of current position basis at the plurality of time
20 points of the each division line on the basis of the current
position of the own vehicle, based on the vehicle movement
information from the last time acquisition time point to the
current time point.
[0117]
25 (3) In each of the above-mentioned Embodiments, there has
66
been explained the case where the own lane determination storage
unit 14 stores both of the division line information and the
division line information of current position basis, at the
plurality of time points of the each division line, by correlating
5 with the correspondence relation between the own lane and the each
division line which was determined this time; and when determining
that the correspondence relation between the own lane and the each
division line changed, changes both of the division line
information and the division line information of current position
10 basis at the plurality of time points of the each division line
which were stored by correlating with the identification
information of the each division line, among the identification
information of the each division line, so as to correspond to the
correspondence relation after change. However, embodiments of the
15 present disclosure are not limited to the foregoing case. That is
to say, the own lane determination storage unit 14 may store one
of the division line information and the division line information
of current position basis, at the plurality of time points of the
each division line, by correlating with the correspondence
20 relation between the own lane and the each division line which was
determined this time. When determining that the correspondence
relation between the own lane and the each division line changed,
the own lane determination storage unit 14 changes one of the
division line information and the division line information of
25 current position basis at the plurality of time points of the each
67
division line which were stored by correlating with the
identification information of the each division line, among the
identification information of the each division line, so as to
correspond to the correspondence relation after change.
5 [0118]
For example, the own lane determination storage unit 14
stores the division line information of current position basis at
the plurality of time points of the each division line, by
correlating with the correspondence relation between the own lane
10 and the each division line which was determined this time. When
determining that the correspondence relation between the own lane
and the each division line changed, the own lane determination
storage unit 14 may change the division line information of current
position basis at the plurality of time points of the each division
15 line which were stored by correlating with the identification
information of the each division line, among the identification
information of the each division line, so as to correspond to the
correspondence relation after change. In this case, the division
line information conversion unit 13 may convert the division line
20 information of current position basis at the plurality of time
points of the each division line calculated and stored at the last
time calculation period, into the division line information of
current position basis at the plurality of time points of the each
division line on the basis of the current position of the own
25 vehicle, based on the vehicle movement information from the last
68
time acquisition time point to the current time point. The own
lane determination storage unit 14 may store the division line
information of current position basis at the plurality of time
points of the each division line together with the division line
5 information of the each division line acquired this time.
[0119]
Alternatively, the own lane determination storage unit 14 may
store the division line information at the plurality of time points
of the each division line, by correlating with the correspondence
10 relation between the own lane and the each division line which was
determined this time; and when determining that the correspondence
relation between the own lane and the each division line changed,
changes the division line information at the plurality of time
points of the each division line which were stored by correlating
15 with the identification information of the each division line,
among the identification information of the each division line, so
as to correspond to the correspondence relation after change. In
this case, after the own lane determination storage unit 14 changes
the division line information at the plurality of time points of
20 the each division line, among the identification information of
division line, the division line information conversion unit 13
may convert a plurality of past division line information of the
each division line acquired at the plurality of time points, into
a plurality of division line information of current position basis
25 of the each division line on the basis of the current position of
69
the own vehicle, based on the vehicle movement information. In
this case, although the division line information of current
position basis is stored in the storage apparatus, such as RAM,
and is used for processing of the division line information
5 estimation unit 15, the storage for using in the next calculation
period becomes unnecessary unlike each of above embodiments.
[0120]
Although the present disclosure is described above in terms
of various exemplary embodiments and implementations, it should be
10 understood that the various features, aspects and functionality
described in one or more of the individual embodiments are not
limited in their applicability to the particular embodiment with
which they are described, but instead can be applied, alone or in
various combinations to one or more of the embodiments. It is
15 therefore understood that numerous modifications which have not
been exemplified can be devised without departing from the scope
of the present disclosure. For example, at least one of the
constituent components may be modified, added, or eliminated. At
least one of the constituent components mentioned in at least one
20 of the preferred embodiments may be selected and combined with the
constituent components mentioned in another preferred embodiment.
REFERENCE SIGNS LIST
[0121]
25 10 Traveling Lane Recognition Apparatus, 11 Division Line
70
Information Acquisition Unit, 12 Vehicle Movement Acquisition
Unit, 13 Division Line Information Conversion Unit, 14 Own Lane
Determination Storage Unit, 15 Division Line Information
Estimation Unit, 16 Traveling Lane Recognition Unit, 17 Steering
5 Control Unit, K0 Division line distance, K1 Division line angle,
K2 Curvature of division line, Δθ Change amount of yaw angle, ΔX
Moving distance in front direction, ΔY Moving distance in lateral
direction

We Claim :
1. A traveling lane recognition apparatus comprising:
a division line information acquisition unit that acquires
division line information regarding position and shape of each
5 division line on a basis of a position of an own vehicle, about
division lines of one or a plurality of lanes which are
recognizable in front of the own vehicle and include an own lane
which is a lane where the own vehicle is traveling, and a lane
adjacent to the own lane;
10 a vehicle movement acquisition unit that acquires vehicle
movement information regarding movement of the own vehicle from an
acquisition time point of the division line information to a
current time point;
a division line information conversion unit that converts the
15 division line information at a plurality of time points of the
each division line, into division line information of current
position basis on a basis of a current position of the own vehicle
at the plurality of time points of the each division line, based
on the vehicle movement information;
20 an own lane determination storage unit that determines a
correspondence relation between the own lane and the each division
line, based on the division line information of the each division
line, and stores one or both of the division line information and
the division line information of current position basis, at the
25 plurality of time points of the each division line, by correlating
72
with the correspondence relation;
a division line information estimation unit that estimates
estimation division line information which is one division line
information, based on the division line information of current
5 position basis at the plurality of time points, about each of a
division line on a left side and a division line on a right side
of the own lane; and
a traveling lane recognition unit that recognizes a
positional relationship of the own lane with respect to the own
10 vehicle, based on the estimation division line information of each
of the division line on the left side and the division line on the
right side of the own lane.
2. The traveling lane recognition apparatus according to claim 1,
15 wherein the own lane determination storage unit determines
whether or not the own vehicle crossed the division line, based on
the division line information of the each division line; and
changes the own lane into a lane after crossing the division
line, and changes the correspondence relation between the own lane
20 and the each division line, when determining that the own vehicle
crossed.
3. The traveling lane recognition apparatus according to claim 2,
wherein the division line information acquisition unit
25 acquires information including a division line distance which is
73
a distance between a part of the division line located in a lateral
direction of the own vehicle and the own vehicle, as the division
line information of the each division line; and
wherein, when a deviation between the division line distance
5 of the division line on the right side of the own lane acquired
last time and the division line distance of the division line on
the right side of the own lane acquired this time becomes within
a range corresponding to a lane width when performing a lane change
to the right side, or
10 when a deviation between the division line distance of the
division line on the left side of the own lane acquired last time
and the division line distance of the division line on the left
side of the own lane acquired this time becomes within a range
corresponding to a lane width when performing the lane change to
15 the right side,
the own lane determination storage unit determines that the
own vehicle crossed the division line on the right side of the own
lane; and
when a deviation between the division line distance of the
20 division line on the left side of the own lane acquired last time
and the division line distance of the division line on the left
side of the own lane acquired this time becomes within a range
corresponding to a lane width when performing the lane change to
the left side, or
25 when a deviation between the division line distance of the
74
division line on the right side of the own lane acquired last time
and the division line distance of the division line on the right
side of the own lane acquired this time becomes within a range
corresponding to a lane width when performing the lane change to
5 the left side,
the own lane determination storage unit determines that the
own vehicle crossed the division line on the left side of the own
lane.
10 4. The traveling lane recognition apparatus according to claim 2,
wherein the division line information acquisition unit
acquires information including a division line distance which is
a distance between a part of the division line located in a lateral
direction of the own vehicle and the own vehicle, as the division
15 line information of the each division line; and
wherein, when the division line distance of the division line
on the right side of the own lane acquired last time is closer to
0 than a determination value, and a deviation between the division
line distance of the division line on the right side of the own
20 lane acquired last time and the division line distance of the
division line on the right side of the own lane acquired this time
becomes within a range corresponding to a lane width when
performing a lane change to the right side, or
when the division line distance of the division line on the
25 left side of the own lane acquired last time is closer to the lane
75
width than a determination value, and a deviation between the
division line distance of the division line on the left side of
the own lane acquired last time and the division line distance of
the division line on the left side of the own lane acquired this
5 time becomes within a range corresponding to a lane width when
performing the lane change to the right side,
the own lane determination storage unit determines that the
own vehicle crossed the division line on the right side of the own
lane; and
10 when the division line distance of the division line on the
left side of the own lane acquired last time is closer to 0 than
a determination value, and the deviation between the division line
distance of the division line on the left side of the own lane
acquired last time and the division line distance of the division
15 line on the left side of the own lane acquired this time becomes
within a range corresponding to a lane width when performing the
lane change to the left side, or
when the division line distance of the division line on the
right side of the own lane acquired last time is closer to the
20 lane width than a determination value, and the deviation between
the division line distance of the division line on the right side
of the own lane acquired last time and the division line distance
of the division line on the right side of the own lane acquired
this time becomes within a range corresponding to a lane width
25 when performing the lane change to the left side,
76
the own lane determination storage unit determines that the
own vehicle crossed the division line on the left side of the own
lane.
5 5. The traveling lane recognition apparatus according to any one
of claims 1 to 4,
wherein the own lane determination storage unit stores one
or both of the division line information and the division line
information of current position basis, at the plurality of time
10 points of the each division line, by correlating with
identification information of the each division line on a basis of
the own lane; and
when determining that the correspondence relation between the
own lane and the each division line changed, changes one or both
15 of the division line information and the division line information
of current position basis at the plurality of time points of the
each division line which were stored by correlating with the
identification information of the each division line, among the
identification information of the each division line, so as to
20 correspond to the correspondence relation after change.
6. The traveling lane recognition apparatus according to any one
of claims 1 to 5,
wherein the own lane determination storage unit changes a
25 maximum number of the plurality of time points that one or both of
77
the division line information and the division line information of
current position basis of the each division line are stored,
according to a detection state of the each division line.
5 7. The traveling lane recognition apparatus according to any one
of claims 1 to 6,
wherein the division line information acquisition unit
acquires, as the division line information of the each division
line, information including a division line distance which is a
10 distance between the own vehicle and a part of the division line
located in a lateral direction of the own vehicle, a division line
angle which is an inclination of the part of the division line
located in the lateral direction of the own vehicle with respect
to a front direction of the own vehicle, and a curvature of the
15 division line.
8. The traveling lane recognition apparatus according to claim 7,
wherein the vehicle movement acquisition unit acquires moving
distances in the front direction and the lateral direction of the
20 own vehicle, and a change amount of yaw angle, on a basis of the
own vehicle at an acquisition time point of the division line
information, and
wherein the division line information conversion unit
converts the division line distance, the division line angle, and
25 the curvature of division line, as the division line information,
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acquired at each time point, into a division line distance, a
division line angle, and a curvature of division line of current
position basis on the basis of the current position of the own
vehicle, based on the moving distances in the front direction and
5 the lateral direction of the own vehicle and the change amount of
yaw angle from the acquisition time point of the division line
information to the current time point.
9. The traveling lane recognition apparatus according to any one
10 of claims 1 to 8,
wherein the division line information estimation unit
calculates the one estimation division line information by
performing an averaging processing of the division line
information of current position basis at the plurality of time
15 points, about each of the division line on the left side and the
division line on the right side of the own lane.
10. The traveling lane recognition apparatus according to any one
of claims 1 to 9,
20 wherein the division line information estimation unit
estimates, about the each division line, past estimation division
line information which is one division line information, based on
the division line information of current position basis at a
plurality of time points older than this time;
25 determines whether or not a deviation between this time the
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division line information of current position basis and the past
estimation division line information is less than or equal to a
deviation threshold value;
calculates the one estimation division line information,
5 based on the division line information of current position basis
at a plurality of time points including this time, when determining
that the deviation is less than or equal to the deviation threshold
value; and
calculates the past estimation division line information as
10 the estimation division line information, when determining that
the deviation is not less than or equal to the deviation threshold
value.
11. The traveling lane recognition apparatus according to claim
15 10,
wherein, when the correspondence relation between the own
lane and the each division line which was determined by the own
lane determination storage unit changed, the division line
information estimation unit decreases the deviation threshold
20 value than when the correspondence relation is not changing.
12. The traveling lane recognition apparatus according to claim 10
or 11,
wherein, when determining that the deviation is not less than
25 or equal to the deviation threshold value, the division line
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information estimation unit deletes the division line information
which corresponds to this time the division line information of
current position basis and was stored by the own lane determination
storage unit.
5
13. The traveling lane recognition apparatus according to any one
of claims 1 to 12,
wherein the division line information estimation unit
calculates, about the each division line, a variation degree of
10 the division line information of current position basis at a
plurality of time points of this time and past;
determines whether or not the variation degree is less than
or equal to a variation threshold value; and
deletes the stored division line information at the plurality
15 of time points of this time and past, and does not estimate the
estimation division line information, when determining that the
variation degree is not less than or equal to the variation
threshold value.
20 14. The traveling lane recognition apparatus according to claim
13,
wherein, when the correspondence relation between the own
lane and the each division line which was determined by the own
lane determination storage unit changed, the division line
25 information estimation unit decreases the variation threshold
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value than when the correspondence relation is not changing.
15. The traveling lane recognition apparatus according to any one
of claims 1 to 14, further comprising
5 a steering control unit that performs one or both of a
steering control which controls a steering angle of wheels, and a
lane deviation informing which inform deviation of the own vehicle
from the own lane, to a driver, based on the positional
relationship of the own lane with respect to the own vehicle which
10 was recognized by the traveling lane recognition unit.
16. A traveling lane recognition method comprising:
a division line information acquisition step of acquiring
division line information regarding position and shape of each
15 division line on a basis of a position of an own vehicle, about
division lines of one or a plurality of lanes which are
recognizable in front of the own vehicle and include an own lane
which is a lane where the own vehicle is traveling, and a lane
adjacent to the own lane;
20 a vehicle movement acquisition step of acquiring vehicle
movement information regarding movement of the own vehicle from an
acquisition time point of the division line information to a
current time point;
a division line information conversion step of converting the
25 division line information at a plurality of time points of the
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each division line, into division line information of current
position basis on a basis of a current position of the own vehicle
at the plurality of time points of the each division line, based
on the vehicle movement information;
5 an own lane determination storage step of determining a
correspondence relation between the own lane and the each division
line, based on the division line information of the each division
line, and storing one or both of the division line information and
the division line information of current position basis, at the
10 plurality of time points of the each division line, by correlating
with the correspondence relation;
a division line information estimation step of estimating
estimation division line information which is one division line
information, based on the division line information of current
15 position basis at the plurality of time points, about each of a
division line on a left side and a division line on a right side
of the own lane; and

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a traveling lane recognition step of recognizing a positional
relationship of the own lane with respect to the own vehicle, based
on the estimation division line information of each of the division
line on the left side and the division line on the right side of
5 the own lane.