Patent ID: 9418302
Filing Date: 2016-08-16
CPC Classification: G06K

Claim Text:
1. An apparatus that is mounted in a vehicle and recognizes a shape of a road on which the vehicle is traveling, the apparatus comprising: first recognizing means for recognizing road edge shapes on a left side and a right side of the vehicle, from positions of roadside objects detected based on detection information from an on-board radar; second recognizing means for recognizing lane shapes that are shapes of lane boundary lines on the left side and the right side of the vehicle, from positions of lane boundary lines detected based on an image captured by an on-board camera; identifying means for (i) determining, for each of the left side and the right side, whether or not a degree of coincidence between the road edge shapes recognized by the first recognizing means and the lane shapes recognized by the second recognizing means is high, the degree of coincidence being selectively set to be either high or low, and (ii) identifying a shape of the road based on results of the determination, for each of the left side and the right side, of whether or not the degree of coincidence between the road edge shapes recognized by the first recognizing means is high.