| CPC G06V 20/588 (2022.01) [B60W 30/095 (2013.01); B60W 30/0956 (2013.01); B60W 30/18163 (2013.01); B60W 50/14 (2013.01); B60W 30/16 (2013.01); B60W 40/06 (2013.01); B60W 2050/146 (2013.01)] | 14 Claims |
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1. A lane recognition apparatus, comprising:
a sensor provided at a subject vehicle, and being configured to detect a left line and a right line of a current lane, sense a first left line distance from a middle of the subject vehicle to the left line and a first right line distance from the middle of the subject vehicle to the right line, and to transmit a result of sensing to a controller;
a radar provided at the subject vehicle, and being configured to collect following-vehicle location information of a following vehicle and to transmit the following-vehicle location information to the controller; and
the controller being configured to:
set a sum of the first left line distance and the first right line distance as a lane width, in response to the sensor detecting both the left line and the right line,
correct the first left line distance or the first right line distance based on a previously set lane width, in response to the sensor detecting only one of the left line or the right line,
determine a second left line distance that is a distance between the middle of the subject vehicle and a left line of a left lane of the current lane based on the corrected first left line distance,
determine a second right line distance that is a distance between the middle of the subject vehicle and a right line of a right lane of the current lane based on the corrected first right line distance, and
determine a moving state of the subject vehicle as any one of a normal driving state, a left-biased driving state, a right-biased driving state, or a lane change state based on information on the left line of the current lane and the right line of the current lane.
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