| 摘要 |
PROBLEM TO BE SOLVED: To narrow down a vehicle lane after a vehicle exits an unknown zone by a relatively-simple process utilizing a determination result of the vehicle lane before the vehicle enters into the unknown zone, and efficiently determine the vehicle lane when the vehicle runs in the unknown zone in which the vehicle lane can not be determined based on an image recognition or the like. SOLUTION: A lane determination apparatus comprises: a first lane determination means for determining the vehicle lane on a road on which the vehicle 30 runs; an unknown zone detection means for detecting the unknown zone U which can not be determined by the first lane determination means; a lane movement determination means for determining a lane movement range A as a range of the number of the lanes on which the vehicle 30 possibly runs based on a vehicle speed V and a travel distance of the vehicle 30 while the vehicle 30 runs in the unknown zone U; and a second lane determination means for determining the vehicle lane after the vehicle exits the unknown zone U based on the vehicle lane determined by the first lane determination means before the vehicle enters into the unknown zone U and the lane movement range A determined by the lane movement determination means. COPYRIGHT: (C)2009,JPO&INPIT |
