Patent ID: 11859983
Assignee: PIONEER CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 4:
5. An apparatus for a mobile object that generates lane information of an increasing or decreasing lane which increases or decreases from a traveling lane of a road on which a mobile object travels, comprising:
a control unit, constituted with a central processing unit and a memory, and in communication with a storage unit body (21);
a current position estimating unit (2) that generates current position information of the mobile object;
a sensor (3); and
a displacement sensor (4);
the sensor (3) configured to detect a line formed on a surface of the road on which the mobile object travels and acquire shape information regarding said line,
the displacement sensor (4) configured to determine a displacement of the mobile object, and
the control unit (5) configured to:
acquire the current position information from the current position estimating unit (2),
acquire traveling trajectory information of a traveling trajectory of the mobile object, based on the current position information acquired by the current position estimating unit (2) and from route information stored in the storage unit body (21),
acquire information of a position and a shape of an increasing or decreasing line of the increasing or decreasing lane from sensor information detected by the sensor arranged in the mobile object, wherein a starting point of the increasing or decreasing lane and an ending point of the increasing or decreasing lane are determined based on one of the traveling trajectory information and the sensor information, and
generate the lane information based on the traveling trajectory information and the shape of the increasing or decreasing line wherein the lane information is generated by replacing a portion of a shape of the traveling trajectory, from the starting point to the ending point, with the shape acquired of the increasing or decreasing line.