Patent ID: 11869251
Assignee: RENAULT S.A.S.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. A driving support device comprising:
a sensor mounted in or on a vehicle and configured to detect a first boundary point group including boundary points forming a lane boundary line;
a storage device configured to store map data; and
a controller configured to:
convert a coordinate system of the first boundary point group to the same coordinate system as a coordinate system of the map data;
read, from the map data, a second boundary point group that includes boundary points forming a lane boundary in the map data;
at least one of:
determine whether or not first and second boundary points in the first boundary point group are close to each other in a vehicle width direction, depending on whether a distance between the first and second boundary points is equal to or less than a threshold, and exclude, from boundary points to be matched, the first and second boundary points that are determined to be close to each other; or
determining whether or not third and fourth boundary points in the second boundary point group are close to each other in the vehicle width direction, depending on whether a distance between the third and fourth boundary points is equal to or less than the threshold, and exclude, from the boundary points to be matched, the third and fourth boundary points that are determined to be close to each other; and

perform matching between boundary points in the first boundary point group that are not excluded from the boundary points to be matched and boundary points in the second boundary point group that are not excluded from the boundary points to be matched.