US 12,240,464 B2
Traveling route generation apparatus and traveling route generation method
Yuko Omagari, Tokyo (JP); Masaya Endo, Tokyo (JP); and Tomoki Uno, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Appl. No. 18/006,786
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Sep. 30, 2020, PCT No. PCT/JP2020/037070
§ 371(c)(1), (2) Date Jan. 25, 2023,
PCT Pub. No. WO2022/070290, PCT Pub. Date Apr. 7, 2022.
Prior Publication US 2023/0294700 A1, Sep. 21, 2023
Int. Cl. B60W 30/18 (2012.01); B60W 10/20 (2006.01); B60W 30/12 (2020.01); G06V 20/56 (2022.01)
CPC B60W 30/18163 (2013.01) [B60W 10/20 (2013.01); B60W 30/12 (2013.01); G06V 20/588 (2022.01); B60W 2552/53 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A traveling route generation apparatus comprising at least one processor configured to implement:
a lane marking information acquisitor that acquires lane marking information regarding position and shape of each lane marking on a basis of a position of an own vehicle, about lane markings of one or a plurality of lanes which can be recognized in front of the own vehicle and includes an own lane which is a lane where the own vehicle is traveling and a lane adjacent to the own lane;
a traveling lane recognizer that determines a correspondence relation between each lane marking and the own lane, based on the lane marking information of each lane marking;
a lane marking information effectiveness determiner that, during lane change of the own vehicle, determines whether or not the lane marking information of each lane marking is effective lane marking information which can be used for generation of a lane change traveling route which is a traveling route for changing lanes;
a reference lane marking selector that, during lane change, selects one lane marking from a lane marking on a left side and a lane marking on a right side of the own lane, as a reference lane marking, based on an effectiveness determination result of the lane marking information of each lane marking by the lane marking information effectiveness determiner; and
a traveling route generator that, during lane change, generates the lane change traveling route which is a traveling route for changing lanes, based on the lane marking information of the reference lane marking.