JP6875057B2 - Electronic device, driving lane detection program and driving lane detection method - Google Patents

Description

The present invention relates to the detection of a traveling lane, and particularly to the detection of a lane in which the own vehicle travels.

With the driving assist function or automatic driving technology, it is necessary to accurately detect the lane in which the vehicle is traveling. For example, Patent Document 1 discloses an in-vehicle device that estimates which lane the own vehicle is traveling on a branch road. In the traveling lane recognition device of Patent Document 2, a marker attached to the lane is detected by a marker sensor, the traveling lane position is detected based on the detection result, and a white line using a camera is used until the next marker appears. The recognition means detects the change of the traveling lane. The traveling lane recognition device of Patent Document 3 recognizes the boundary lines of the left and right lanes by the lane boundary line recognition means by the camera, and the left end, the right end, or other than that, depending on the combination of the left and right boundary line types (solid line, broken line). The lane position is determined only when the vehicle is in the leftmost or rightmost lane by distinguishing whether the vehicle is in the leftmost lane or using the lane number information in the map data. Then, after the lane position is determined, the change in the traveling lane is detected to detect the traveling lane.

Japanese Patent No. 5901358 Japanese Unexamined Patent Publication No. 2003-44978 Japanese Unexamined Patent Publication No. 2008-276642

The lane detection method of Patent Document 2 detects the position of a traveling lane by detecting a marker attached to each lane, but when the number of lanes increases or decreases, the increase or decrease in the number of lanes cannot be detected. , It may not be possible to recognize the correct driving lane. For example, as shown in FIG. 12, markers 1-1, 1-2, 1-3, and 1-4 are provided in lanes 1, 2, 3, and 4, respectively. At time t1, since the own vehicle M has passed the markers 1-3, it is correctly recognized that the traveling lane of the own vehicle M is "3". However, when the number of lanes is reduced from 4 to 3 at position Q and markers 2-1, 2-2, and 2-3 are provided ahead of the number of lanes, the traveling lane of the own vehicle M is 3 at time t2. At time t3, the traveling lane is recognized as 2 only when the own vehicle M passes the marker 2-2. That is, even if the number of lanes changes, there is a problem that the correct traveling lane cannot be recognized until the own vehicle M passes the next marker.

Further, in the method of detecting a traveling lane by a combination of lane boundary line types (solid line or broken line) as in Patent Document 3, when the number of lanes is increased or decreased, the traveling lane is correctly traveled only when the traveling lane is at the left end or the right end. The lane cannot be recognized, and it becomes indefinite at other times. For example, as shown in FIG. 13 , when the own vehicle M is traveling in lane 3 which is neither the left end nor the right end at time t1, and then the number of lanes decreases from 4 to 3 at position Q, at time t2, Since the traveling lane is not the rightmost or leftmost lane, the traveling lane of the own vehicle M is indefinite. That is, since the boundary between both sides is a broken line, it becomes impossible to recognize which lane the vehicle is traveling on. In this case, there is a problem that the correct traveling lane cannot be recognized unless the lane is changed to the leftmost lane or the rightmost lane. In the example of the figure, by changing the lane to the leftmost lane at time t3, it is recognized that the leftmost lane is the traveling lane from the combination of the left boundary line being the solid line and the right boundary line being the broken line.

The present invention solves such a conventional problem, and is an electronic device, a traveling lane detection program, and a traveling lane detecting method capable of correctly detecting the traveling lane of the own vehicle even if the number of lanes on the road changes. The purpose is to provide.

The electronic device according to the present invention has a traveling lane detection function, and is acquired as an acquisition means for acquiring link data including lane change information regarding the number of lanes and the increase / decrease of lanes based on the position of the own vehicle. The detection means for detecting the traveling lane of the own vehicle based on the lane change information included in the link data is included.

Preferably, the electronic device further includes a determination means for determining whether or not the own vehicle has changed lanes, and the detection means detects the traveling lane of the own vehicle based on the determination result of the determination means and the lane change information. .. Preferably, the acquisition means compares the lane change information of the link data acquired last time with the lane change information of the link data acquired this time, and when there is a change in the lane change information, the lane change information is sent to the detection means. Notice. Preferably, the lane change information includes an increase / decrease number on the left side of the lane and an increase / decrease number on the right side of the lane. Preferably, when the determination means determines that the vehicle does not change lanes, the detection means detects the traveling lane of the vehicle based on the lane change information. Preferably, the acquisition means compares the lane change information of the link data acquired last time with the lane change information of the link data acquired this time, and when there is a change in the lane change information, the lane change information is sent to the detection means. Notice. Preferably, the electronic device further includes a storage means for storing map data, and the acquisition means acquires link data from the storage means.

The traveling lane detection program according to the present invention is executed in an electronic device provided with a control means for controlling the traveling lane detection function, and includes a step of acquiring the current location of the own vehicle and the acquired position of the own vehicle. Based on the above, it has a step of acquiring link data including lane change information regarding the number of lanes and an increase / decrease of lanes, and a step of detecting a traveling lane of the own vehicle based on the lane change information included in the acquired link data.

Preferably, the traveling lane detection program further includes a step of determining whether or not the own vehicle has changed lanes, and the detecting step is based on the determination result of the determination step and the lane change information of the own vehicle. Is detected.

The traveling lane detection method according to the present invention is in an electronic device having a traveling lane detection function, and is based on the step of acquiring the current location of the own vehicle and the acquired position of the own vehicle, and the number of lanes and the number of lanes. It has a step of acquiring link data including lane change information related to increase / decrease, and a step of detecting a traveling lane of the own vehicle based on the lane change information included in the acquired link data.

According to the present invention, by giving the link data lane change information regarding the number of lanes and the increase / decrease of lanes, the lane change information of the link data can be referred to when the link data is acquired based on the vehicle position. Even if the number increases or decreases, the traveling lane of the own vehicle can be detected accurately.

It is a block diagram which shows the structure of the vehicle-mounted device which concerns on embodiment of this invention. It is a figure which shows the example which acquires the information from another distribution site. It is a figure which shows the structure of the traveling lane detection device in the vehicle-mounted device which concerns on embodiment of this invention. It is an operation flow of the traveling lane detection process which concerns on embodiment of this invention. It is a figure which shows the storage example of the determination result of the traveling lane change determination means which concerns on embodiment of this invention. It is a figure which shows the storage example of the lane change information which concerns on embodiment of this invention. It is a flow explaining the operation of the lane change information acquisition means which concerns on embodiment of this invention. It is a figure explaining the specific example of the traveling lane detection which concerns on embodiment of this invention. FIG. 9A is an example of lane information when there is a change in the lane change information, and FIG. 9B is an example of lane information when there is no change in the lane change information. It is a figure which shows an example of the detection result of the traveling lane detecting means which concerns on embodiment of this invention. It is an operation flow of the traveling lane detecting means which concerns on embodiment of this invention. It is a figure explaining the problem of the conventional traveling lane detection. It is a figure explaining the problem of the conventional traveling lane detection.

Next, an embodiment of the present invention will be described in detail with reference to the drawings. The electronic device according to the embodiment of the present invention is an in-vehicle device such as a navigation device fixedly mounted on a moving body such as an automobile, a portable computer device that can be carried around, or a tablet-type computer device. Can be done. The electronic device of the present invention has a navigation function of guiding a route to a destination and displaying a road around the position of the own vehicle. In one preferred embodiment, the navigation function includes a traveling lane detecting function for detecting a lane (lane) in which the own vehicle travels. The electronic device may further include, for example, a function of reproducing audio / video data, a function of receiving a television / radio broadcast, a function of executing application software, and the like in an integrated manner as other functions.

FIG. 1 is a block diagram showing a configuration of an in-vehicle device according to an embodiment of the present invention. The in-vehicle device 10 includes an input unit 100, a position information calculation unit 110, a navigation unit 120, a display unit 130, a voice output unit 140, a communication unit 150, a storage unit 160, and a control unit 170. However, the configuration of the in-vehicle device 10 disclosed here is an example, and may include other configurations.

The input unit 100 receives an instruction from the user by an input key device, a voice input recognition device, a touch panel, or the like, and provides the instruction to the control unit 170. The position information calculation unit 110 calculates the current location of the own vehicle based on the GPS signal transmitted from the GPS satellite and the output from the relative orientation sensor such as the gyro sensor.

The navigation unit 120 searches for a route from the current location to the destination calculated by the position information calculation unit 110, displays the searched route on the display unit 130, and outputs voice from the voice output unit 140. The navigation unit 120 further includes a traveling lane detection function for detecting a traveling lane of the own vehicle as described later. The information detected by the traveling lane detection function is used for route guidance and driving assistance by the navigation unit 120. The display unit 130 includes a display device such as a liquid crystal display or an organic EL, and displays, for example, a map image generated by the navigation unit 120. The voice output unit 140 outputs, for example, the voice generated by the navigation unit 120.

The communication unit 150 enables data to be sent and received to and from various external devices. For example, as shown in FIG. 2, the communication unit 150 accesses the location information distribution site 152 via the network NW, acquires the vehicle position information from the location information distribution site 152, or accesses the map data distribution site 154, and there. You can get the necessary map data from, or you can access the road traffic information distribution site 156 and get detailed information about the road traffic information from there. The own vehicle position information obtained from the position information distribution site 152 can be used instead of the own vehicle position information calculated by the position information calculation unit 110.

The storage unit 160 can store application software and programs executed by the control unit 170, map data required by the navigation unit 120, and the like. The map data can include node data related to intersections, link data related to roads, and information necessary for the operation of the navigation unit 120.

In a preferred embodiment, the control unit 170 is composed of a microcontroller including a ROM, a RAM, and the like, and the ROM or the RAM can store various programs for controlling the operation of each unit of the in-vehicle device 10. In a preferred embodiment, the control unit 170 executes a program for controlling the operation of the navigation unit 120 and the traveling lane detection function described later.

FIG. 3 is a diagram showing a configuration of a traveling lane detection function according to the present embodiment. The traveling lane detection function 200 is preferably included in the navigation unit 120, or operates in cooperation with the navigation unit 120. Further, when the in-vehicle device has a driving assist function, the traveling lane detection function 200 can operate in cooperation with such a driving assist function. The operation of the traveling lane detection function 200 is controlled by a program executed by the control unit 170.

As shown in the figure, the traveling lane detecting function 200 of the present embodiment includes an image input means 210, a lane mark detecting means 220, a traveling lane change determining means 230, a current location detecting means 240, a map data recording means 250, and lane change information. The acquisition means 260 and the traveling lane detecting means 270 are included.

The image input means 210 inputs image data from an image capturing camera that images a road including the front, the rear, or the side of the own vehicle, and provides the input image data to the lane mark detecting means 220. The lane mark detecting means 220 detects lane marks (for example, solid lines or broken white lines) that are left and right dividing lines of the traveling lane based on the road image from the image input means 210, and determines the detection result as the traveling lane change determining means 230. To provide to. The traveling lane change determining means 230 determines whether or not the traveling lane has been changed from the left and right lane mark positions detected by the lane mark detecting means 220. The current location detecting means 240 detects the current location from the calculation result of the position information calculation unit 110 shown in FIG. 1, for example. The map data recording means 250 may record road map data, information on changes in the number of lanes on the road, and the like, and may be included in the storage unit 160 shown in FIG. 1, for example. The lane change information acquisition means 260 acquires change information of the number of lanes of the road traveling from the map data recording means 250 based on the current location detected by the current location detection means 240. The traveling lane detecting means 270 determines the traveling lane position using the lane change information from the traveling lane change determining means 230 and the change information of the number of lanes on the road from the lane change information acquiring means 260.

FIG. 4 shows an operation flow of the traveling lane detection function 200 of this embodiment. In the description here, the lane numbers indicating the lane positions are lane 1, lane 2, lane 3, ... From the left side to the right side, as shown in FIGS. 12 and 13.

First, the road image around the own vehicle from the image input means 210 is input to the lane mark detecting means 220 (S1). This road image may be either a road image behind or in front of the vehicle, and includes at least a lane mark of the lane in which the vehicle travels.

Next, the lane mark detecting means 220 detects the left and right lane marks, which are the dividing lines of the lanes in which the own vehicle travels, from the input road image (S2). As a method for detecting a lane mark, for example, an input road image is image-processed, and a lane mark such as a white line (solid line, broken line) is detected from the brightness of the image.

The traveling lane change determining means 230 determines whether or not the own vehicle has changed the traveling lane by using the left and right lane mark positions detected by the lane mark detecting means 220 (S3). For example, the traveling lane change determining means 230 determines whether or not the own vehicle straddles the detected lane mark, or whether or not the combination of the left and right lane marks has been changed (for example, the solid line on the left and the right). The combination of the broken lines on the left is changed to the combination of the broken line on the left and the solid line on the right) to determine whether or not the vehicle has changed the traveling lane. Further, as other information, it is also possible to make a determination by using the steering angle of the steering wheel, the blinker information, and the like. The traveling lane change determining means 230 sets the determination result in the variable laneChange shown in FIG. 5, for example, and stores this in a register or the like. For example, when there is no lane change, laneChange is set to "0", when the traveling lane is changed to the left lane, "-1" is set, and when the traveling lane is changed to the right lane, "1" is set. In this embodiment, the left end of the lane is used as a reference, the change to the left is negative, and the change to the right is positive. However, when the right end is used as a reference, the positive and negative may be reversed.

Next, the current location of the own vehicle is acquired by the current location detecting means 240 (S4), and the lane change information acquiring means 260 acquires the lane change information of the road (link) on which the own vehicle travels based on the position of the own vehicle (S5). ). As described above, the road map data used in the navigation unit 120 includes link data related to roads and node data related to intersections. The link data includes coordinates of the start point and end point of the link, information on connected nodes, road types such as national roads, prefectural roads, and expressways, and further includes lane change information as attribute information. The lane change information includes the number of lanes for the same road (link), the number of increases / decreases on the left side of the road, and the number of increases / decreases on the right side of the road. For example, in the example of FIG. 6, the number of lanes is "3", the increase in the number of lanes on the left side is "1" (negative value in the case of a decrease), and the change in the number of lanes on the right side is "0". .. That is, when the leftmost lane of the road increases, a positive value is stored in the left increment / decrement number, when it decreases, a negative value is stored in the left increment / decrement number, and the rightmost lane of the road increases. In the case, a positive value is stored in the right increment / decrement number, and in the case of a decrease, a negative value is stored in the right increment / decrement number. Next, the traveling lane detecting means 270 calculates the traveling lane in which the own vehicle is traveling based on the determination result of the traveling lane change determining means and the lane change information (S6). The processes from steps S1 to S6 are periodically repeated by the control unit 170.

FIG. 7 shows a detailed operation flow of the lane change information acquisition means 260. The lane change information acquisition means 260 identifies the road on which the vehicle is traveling based on the detected position of the own vehicle, and acquires the lane change information included in the link data of the identified road (S10). The acquisition of the lane change information is performed when the traveling lane detection function shown in FIG. 4 is executed. Next, the lane change information acquisition means 260 compares the lane change information acquired last time with the lane change information acquired this time, and determines whether or not the lane change information has changed (S12). The lane change information acquired last time was acquired by the lane change information acquisition means 260 when the process shown in FIG. 4 was last executed, and the lane change information acquired this time is the process shown in FIG. 4 this time. It was acquired by the lane change information acquisition means 260 when it was done. For example, it is determined whether or not the number of lanes has changed between the previous time and this time, or whether or not the number of left increase / decrease and the number of right increase / decrease have become values other than "0". When the lane change information acquisition means 260 determines that the lane change information has changed, the lane change information acquisition means 260 notifies the traveling lane detection means 270 as "lane information" (S14), and changes to the lane change information. If it is determined that there is no such information, the traveling lane detecting means 270 is notified of "lane information" indicating that there is no change (S16). FIG. 9A shows an example of lane information when the lane change information changes, and FIG. 9B shows an example of lane information when the lane change information does not change.

Next, a method of generating lane change information will be described. As described above, the lane change information is added as the attribute information of the link data. The lane change information may be added to all the links included in the road map data, or a specific link, for example, a link having multiple lanes, which may be lane information, or a highway or a national highway with many branches or merging. It may be added to a link having a road type such as.

FIG. 8 shows an example of a road in which the number of lanes on the main line increases or decreases. Here, the links L1, L2, and L3 are the main lines, and the link L4 merges with the link L1 at the point Q1 to become the link L2, and at the point Q2, the link L5 branches from the link L2 to become the link L3. It is assumed that each of these links L1, L2, L3, L4, and L5 includes lane change information. In addition, "V" represents the current location of the own vehicle.

The lane change information acquisition means 260 compares, for example, the lane change information of the link L1 and the lane change information of the link L2 when the own vehicle moves from V1 to V2. The lane change information of the link L1 is the number of lanes "3", the left increase / decrease number "0", and the right increase / decrease number "0", and the lane change information of the link L2 is the lane number "4", the left increase / decrease number "1". , The right increase / decrease number is “0”, and since the number of lanes of the link L1 and the number of lanes of the link L2 do not match, it is determined that the lane change information has changed. In this case, the lane change information acquisition means 260 notifies the traveling lane detection means 270 of the lane change information acquired from the link L2 by the own vehicle at the timing of V2 as "lane information". As shown in FIG. 9A, the lane information includes variables of the same items as the lane change information, and when there is a change in the lane change information, the lane change information acquisition means 260 uses numLanes "4. , IncDecLeft "1", and IncDecRight "0" are notified to the traveling lane detecting means 270 (the lane change information and the lane information are the same).

Further, if the lane detection process (FIG. 4) is executed at the timing when the own vehicle moves from V2 to V21, the lane change information acquisition means 260 acquires the lane change information of the link L2, but this time it is acquired. The lane change information obtained is the same as the previous lane change information acquired from the link L2 by the own vehicle at the timing of V2. Therefore, the lane change information acquisition means 260 determines that there is no change in the lane change information, and in this case, as shown in FIG. 9B, numLanes “4”, IncDecLeft “0”, IncDecRight “0”. The lane information of "" is notified to the traveling lane detecting means 270. However, if there is no change in the lane change information, other information indicating that the lane change information has not changed may be notified.

Hereinafter, specific generation of lane information based on lane change information will be described.
(1) When there is no change in the road When the lane change information of the corresponding link data changes, the acquired lane change information is notified as lane information. If there is no change in the lane change information, the lane change information notifies the lane information with no change. For example, when the own vehicle moves from V2 to V7 or V21, the own vehicle moves from V4 to V7.
(2) When merging Notify the next lane information.
(2-1) When merging on the left side of the main line Number of lanes = Number of lanes in the lane change information of the link of the main line after merging Number of left increase / decrease = 0
Number of increase / decrease to the right = Number of lanes of lane change information of the main line link after merging-Number of lanes of lane change information of the link of the merging lane (2-2) When merging to the right side of the main line Number of lanes = Link of the main line after merging Number of lanes of lane change information Left increase / decrease = Number of lanes of main line link lane change information after merging-Number of lanes of merging lane link lane change information Right increase / decrease = 0
For example, when the own vehicle moves from V3 to V4, the link L4 joins the main line from the left side, so the lane information includes the number of lanes "4", the number of left increase / decrease "0", and the number of right increase / decrease 3 (= 4). -1) Notify.
(3) When branching Notify the next lane information.
(3-1) When branching from the left side of the main line Number of lanes = Number of lanes of lane change information of the link of the branch lane Number of left increase / decrease = 0
Number of increase / decrease to the right = Number of lanes of lane change information of the link of the branch lane − Number of lanes of the link of the main line before branching Number of change information lanes Number of left increase / decrease = Number of branch lane link lane change information lanes − Number of main line link lane change information lanes before branch Right increase / decrease = 0
For example, when the vehicle moves from V4 or V2 to V6, the link L5 branches from the left side of the main line, so the lane information includes the number of lanes "1", the number of left increase / decrease "0", and the number of right increase / decrease "-". 3 ”(= 1-4) is notified.

The lane information thus generated is stored in the variable laneInfo shown in FIG. 9 described above and notified to the traveling lane detecting means 270. That is, the number of lanes is stored in numLanes, the number of left increase / decrease is stored in incDecLeft, and the number of right increase / decrease is stored in incDecRight. If there is no change in the lane change information, the number of lanes is stored in numLanes, and "0" is stored in incDecLeft and incDecRight.

The traveling lane detecting means 270 calculates the traveling lane of the own vehicle based on the determination result of the traveling lane change determining means in step S3 and the lane change information in step S5, and the calculated result is set to the variable vehicle shown in FIG. 10 (FIG. 4). Step S6). The variable vehicle consists of numLanes, which stores the number of lanes, and lanePos, which stores the travel lane number. For example, the calculation result shown in FIG. 10 indicates that the vehicle is traveling in the second lane of the three-lane road counting from the left.

Next, the operation flow of the traveling lane detecting means 270 is shown in FIG. First, the number of lanes (laneInfo.numLanes) included in the lane information notified from the lane change information acquisition means 260 is stored in the variable vehicle.numLanes of FIG. 10 (S61). laneInfo.numLanes is the number of lanes in which the own vehicle is traveling, and this is reflected in the number of lanes in FIG.

Next, the variable laneChange storing the determination of the traveling lane change determining means 230 is added to the variable vehicle.lanePos indicating the traveling lane number (S62). The laneChange is the result of whether or not the own vehicle has changed the lane to the right or left, and this is reflected in the traveling lane number of FIG.

Next, the left increase / decrease number laneInfo.IncDecLeft included in the lane information notified from the lane change information acquisition means 260 is added to vehicle.lanePos (S63). In this embodiment, since the leftmost lane is used as a reference (lane 1), the left increment / decrement number laneInfo.IncDecLeft is added here. If the rightmost lane is used as the reference lane, add incDecRight. As a result, changes such as branching, merging, and increase / decrease in the number of lanes are reflected in the traveling lane number in FIG. According to the flow of FIG. 11, for example, when traveling in the order of V2 → V21 → V5 (see FIG. 8), the movement from V21 to V5 is straight ahead and the lane is not changed, but the boundary Q2 is reached. The lane change information changes when passing. Therefore, the process of S63 reflects the information based on the lane change information, but the lane change is not performed. Therefore, the process of S62 does not substantially change the traveling lane detection. That is, when the vehicle passes straight through the change point of the lane change information, the traveling lane is specified based on the lane change information.

Next, a specific detection result of the traveling lane detecting means 270 will be described with reference to FIG. For example, when the own vehicle travels in V3 (traveling lane number 1 (number of lanes 1)) → V4 → V7 → V21 → V5, the variable vehicle shown in FIG. ), V7, the traveling lane number 2 (number of lanes 4), V21, the traveling lane number 3 (the number of lanes 4), and V5, the traveling lane number 2 (the number of lanes 3).

Further, when the own vehicle travels in V1 (traveling lane number 2 (number of lanes 3)) → V2 → V7 → V41 → V6, the variable vehicle shown in FIG. 10 has the traveling lane number 3 (number of lanes 4) when V2. ), V7, the traveling lane number 2 (number of lanes 4), V41, the traveling lane number 1 (the number of lanes 4), and V6, the traveling lane number 1 (the number of lanes 1). In the above calculation of the traveling lane, it is assumed that the correct traveling lane number is stored in the variable vehicle of FIG. 10 when the own vehicle is traveling in V3 or V1.

As described above, according to this embodiment, the link data has lane change information including the change in the number of lanes, and when there is a change in the number of lanes on the road, it can be detected. Even if the number of vehicles increases or decreases, the driving lane of the own vehicle can be detected correctly. Further, in the conventional method of determining the traveling lane position by detecting the lane mark, if the number of lanes increases or decreases in the middle of the lane mark, the traveling lane position is until the next lane mark is detected. However, if this embodiment is applied, the correct traveling lane can be recognized when the number of lanes increases or decreases without detecting the next lane mark. Further, when the road has 4 lanes and the central 2 lanes are separated by a broken line, the conventional method determines whether the vehicle is traveling in lane 2 or lane 3. However, in the lane detection method of this embodiment, the traveling lane position can be accurately recognized even with four or more lanes. Further, in this embodiment, since the link data is provided with lane change information in advance, the number of lanes and the traveling lane position can be determined even when the lane mark type (solid line, broken line, etc.) cannot be identified.

In the above embodiment, when the lane detection process shown in FIG. 4 is executed, the lane change information acquisition means 260 acquires the lane change information, and the traveling lane detection means 270 acquires the lane information according to the presence or absence of the change in the lane change information. However, this is an example, and the present invention is not necessarily limited to this. For example, the lane change information acquisition means 260 sequentially acquires the link data in which the own vehicle travels from the current location detecting means 240 based on the position of the own vehicle from the map data recording means 250, and the lane change information of the link data sequentially acquired is obtained. The traveling lane detecting means 270 may be notified of the changed lane change information only when the change occurs.

Further, the link data including the lane change information may be stored in the storage unit 160 of the in-vehicle device 10, or may be downloaded from the map data distribution site 154 as shown in FIG. In this case, the map data distribution site 154 may sequentially distribute the road map including the vicinity of the current position of the own vehicle in response to the request from the own vehicle.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the specific embodiments, and various modifications and modifications are made within the scope of the gist of the invention described in the claims. It can be changed.

210: Image input means 220: Lane mark detecting means 230: Traveling lane change determining means 240: Current location detecting means 250: Map data recording means 260: Lane change information acquiring means 270: Traveling lane detecting means NW: Networks L1, L2, L3 , L4, L5: Link Q, Q1, Q2: Number of lanes increase / decrease position V: Current position of own vehicle

Claims (11)

It is an electronic device equipped with a driving lane detection function.
A lane mark detecting means for detecting a lane mark that is a dividing line between the left and right of a traveling lane,
A determination means that determines whether or not the own vehicle has changed lanes based on the detection result of the lane mark detecting means, and holds a determination result indicating whether or not the vehicle has changed to the right lane or the left lane.
It is an acquisition means for acquiring lane change information included in the corresponding link data based on the vehicle position, and the lane change information includes the number of lanes, the number of increase / decrease of the left lane, and the number of increase / decrease of the right lane. And the lane change information is set for each link, the acquisition means and
The detection means for detecting the traveling lane of the own vehicle based on the determination result of the determination means and the lane change information is included.
The detection means determines the number of lanes according to the number of lanes of the lane change information when traveling on the main line, merging with the main line, or branching from the main line, and determines the number of lanes according to the determination result of the determination means and the left side of the lane change information. An electronic device that determines the lane position according to the number of lanes increased / decreased and the number of lanes increased / decreased on the right side. The determination result of the determination means represents a change to the right lane or a change to the left lane based on the left end or the right end of the lane by numbers having different polarities, and the number of lanes of the lane change information is the number of lanes of the road. The electronic device according to claim 1, wherein the increase is represented by a positive value and the decrease is represented by a negative value. The electronic device according to claim 2, wherein the detection means determines the lane position by adding the determination result of the determination means to the current lane position and further adding the increase / decrease number of lanes in the lane change information. The acquisition means compares the lane change information of the link data acquired last time with the lane change information of the link data acquired this time, and when there is a change in the lane change information, notifies the detection means of the lane change information. , The electronic device according to claim 1. The detection means includes a lane number storage unit for storing a determined number of lanes and a lane position storage unit for storing a determined lane position, and is stored in the lane number storage unit and the lane position storage unit. The electronic device according to claim 1, which outputs the number of lanes and the lane position as a detection result. The electronic device according to claim 1 , wherein the detection means detects a traveling lane of the own vehicle based on the lane change information when the determination means determines that the own vehicle does not change lanes. Electronic device In addition
Includes storage means for storing map data
The electronic device according to claim 1, wherein the acquisition means acquires link data from the storage means. A travel lane detection program executed in an electronic device provided with a control means for controlling a travel lane detection function.
A step to detect the lane mark that is the left and right dividing line of the driving lane,
Based on the detected lane mark, it is determined whether or not the vehicle has changed lanes, and the determination result indicating whether or not the vehicle has changed to the right lane or the left lane is stored in the register.
It is a step of acquiring the lane change information included in the corresponding link data based on the own vehicle position, and the lane change information includes the number of lanes, the number of increase / decrease of the left lane and the number of increase / decrease of the right lane, and The lane change information is set for each link, the above-mentioned acquisition step, and
Including the determination result of the determination step and the step of detecting the traveling lane of the own vehicle based on the lane change information.
The detection step determines the number of lanes according to the number of lanes in the lane change information when traveling on the main line, merging with the main line, or branching from the main line, and the determination result of the determination step and the lane change information. A driving lane detection program that determines the lane position according to the number of increases / decreases in the left lane and the number of increases / decreases in the right lane. The determination result of the determination step represents the change to the right lane or the change to the left lane based on the left end or the right end of the lane by numbers having different polarities, and the increase / decrease number of the lanes in the lane change information is the lane of the road. The traveling lane detection program according to claim 8, wherein the increase in is represented by a positive value and the decrease is represented by a negative value. It is a traveling lane detection method in an electronic device having a traveling lane detection function.
A step to detect the lane mark that is the left and right dividing line of the driving lane,
Based on the detected lane mark, it is determined whether or not the vehicle has changed lanes, and the determination result indicating whether or not the vehicle has changed to the right lane or the left lane is stored in the register.
It is a step of acquiring the lane change information included in the corresponding link data based on the own vehicle position, and the lane change information includes the number of lanes, the number of increase / decrease of the left lane and the number of increase / decrease of the right lane, and The lane change information is set for each link, the above-mentioned acquisition step, and
Including the determination result of the determination step and the step of detecting the traveling lane of the own vehicle based on the lane change information.
In the step to be detected, when traveling on the main line, merging with the main line, or branching from the main line, the number of lanes is determined according to the number of lanes in the lane change information, and the determination result of the determination step and the lane change information A driving lane detection method that determines the lane position according to the number of increases / decreases in the left lane and the number of increases / decreases in the right lane. The determination result of the determination step represents the change to the right lane or the change to the left lane based on the left end or the right end of the lane by numbers having different polarities, and the increase / decrease number of the lanes in the lane change information is the lane of the road. The traveling lane detection method according to claim 10, wherein the increase in is represented by a positive value and the decrease is represented by a negative value.

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