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

Claim 0:
1. A computer-implemented lane information generating method for generating 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 along a traveling trajectory, the method comprising:
acquiring current position information from a current position estimating unit (2);
acquiring traveling trajectory information of the 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 a storage unit body (21);
acquiring information of a position and a shape of an increasing or decreasing line of the increasing or decreasing lane from sensor information detected by a 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
generating 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.