Patent ID: 11869251
Assignee: RENAULT S.A.S.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A driving support method comprising:
detecting, using a sensor mounted in or on a vehicle, a first boundary point group including boundary points forming a lane boundary line;
converting a coordinate system of the first boundary point group to the same coordinate system as a coordinate system of map data;
reading, from the map data, a second boundary point group including boundary points forming a lane boundary line in the map data;
at least one of:
determining whether or not first and second boundary points in the first boundary point group are close to each other in a vehicle width direction, depending on whether a distance between the first and second boundary points is equal to or less than a threshold, and excluding, from boundary points to be matched, the first and second boundary points that are determined to be close to each other; or
determining whether or not third and fourth boundary points in the second boundary point group are close to each other in the vehicle width direction, depending on whether a distance between the third and fourth boundary points is equal to or less than the threshold, and excluding, from the boundary points to be matched, the third and fourth boundary points that are determined to be close to each other; and

performing matching between boundary points in the first boundary point group that are not excluded from the boundary points to be matched and boundary points in the second boundary point group that are not excluded from the boundary points to be matched.