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

Claim 7:
8. A driving support method comprising:
detecting, using a sensor mounted on or in 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; and
performing matching between a first point group constituted by boundary points not close to each other in either one of a second boundary point group including boundary points forming a lane boundary line in the map data and the first boundary point group and the other of the first boundary point group and the second boundary point group;
wherein at least one of:
whether or not the boundary points are close to each other is determined depending on whether or not distance between the boundary points is equal to or less than a threshold value equal to twice a radius of a search circle within which a boundary point is searched for in the matching; or
when a plurality of boundary points in the second boundary point group exist in a range with a radius equal to or less than a distance threshold value around a boundary point in the first boundary point group, the boundary point included in the first boundary point group is excluded from boundary points to be matched in the matching.