Patent ID: 11932283
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 5:
6. A computer-readable non-transitory storage medium storing a program for causing a computer mounted on a vehicle to:
acquire an image obtained by imaging a space outside of a vehicle;
detect, through image processing, a plurality of types of objects including a road structure and a moving object shown in the image;
select one type of object from among the detected plurality of types of objects based on a predetermined priority and the detected plurality of types of objects including at least one of a three-dimensional road structure and another vehicle in an adjacent lane;
set a reference line based on a direction of the selected type of object; and
estimate an angle which is formed by the reference line and a traveling direction line of the vehicle as a direction of the vehicle relative to a lane in which the vehicle is traveling or is scheduled to travel.