US 11,938,946 B2
Lane shape recognition system and lane shape recognition method
Toshihide Satake, Tokyo (JP); Fumiaki Takagi, Tokyo (JP); Yuji Shimizu, Tokyo (JP); and Kazuhiro Nishiwaki, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Appl. No. 17/607,532
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Jul. 18, 2019, PCT No. PCT/JP2019/028216
§ 371(c)(1), (2) Date Oct. 29, 2021,
PCT Pub. No. WO2021/009894, PCT Pub. Date Jan. 21, 2021.
Prior Publication US 2022/0212673 A1, Jul. 7, 2022
Int. Cl. B60W 40/072 (2012.01); G06V 20/56 (2022.01)
CPC B60W 40/072 (2013.01) [G06V 20/588 (2022.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A lane shape recognition system, comprising at least one processor configured to implement:
a mark object detector that detects relative positions of a series of marks or objects which are continuously arranged in front of an own vehicle, with respect to the own vehicle;
an approximated curve calculator that calculates a curve which approximates the relative positions of the series of marks or objects; and
a curve effective range determiner that, when a plurality of the curves which are spaced from each other in a right and left direction of the own vehicle are calculated, mutually compares shapes of the plurality of curves, and determines the curves corresponding to lane shape and an effective range of the curves.