Patent ID: 11964563
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. A non-transitory computer-readable storage medium storing a program for causing a computer to:
recognize road markings of a road on which a host vehicle travels based on at least an output of a detection device that detects target objects present in a traveling direction of the host vehicle;
represent center positions of a traveling lane in a point sequence for each prescribed first distance with respect to a first direction based on the recognized road markings; and
determine positions of the road markings based on information of the center positions when a display device is allowed to display a surrounding situation display image including a host vehicle icon representing the host vehicle and an image of the road markings representing the road,
wherein the program further causes the computer to:
detect a lane width of one of traveling lanes at a position of a prescribed second distance associated with the first direction in the host vehicle based on the output of the detection device; and
determine a distance between the road markings that have been determined based on the information of the detected lane width,
wherein the program further causes the computer to:
determine the positions of the road markings by connecting positions offset from the center positions indicated in the information of the center positions in a left-right direction with respect to the lane width of the traveling lane indicated in the information of the lane width, and, wherein the program further causes the computer to:
recognize a radius of the road based on a plurality of center positions in an overhead view plane viewed from above; and
obtain the information of the center positions by multiplying the recognized radius by a compression degree according to the radius in a second direction orthogonal to the first direction to decrease curvature of a centerline connecting the center positions.