Patent ID: 11938946
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 2:
3. The lane shape recognition system according to claim 1,
wherein the curve effective range determiner sets a front and back reference position for right and left deviation in a front and back direction of the own vehicle;
about each of the plurality of curves, calculates a position of the curve in a right and left direction of the own vehicle at the front and back reference position for right and left deviation, as a right and left reference position;
about each of the plurality of curves, calculates a right and left deviation which is a deviation between the right and left reference position and a position of the curve in the right and left direction, at each position in the front and back direction;
when changing a position in the front and back direction from the front and back reference position for right and left deviation, excludes the curve whose right and left deviation deviates from a median of the right and left deviations of the plurality of curves by a right and left deviation threshold value or more, from the plurality of curves, until becoming the two curves; and
determines that the remaining two curves correspond to lane shape.