Patent ID: 7970529
Filing Date: 2011-06-28
Classification: B60W,G06K,G06T,G08G

Abstract:
1. A vehicle comprising: an imaging means; an image processing means which obtains an image of a road via the imaging means, performs a process of estimating a lane of the road by processing the obtained image, and outputs a result of the process as first lane information; a holding means which holds map data of the road; a position information obtaining means which obtains the current position information of the vehicle; a lane estimating means which performs a process of estimating the lane of the road using the map data and the current position information and outputs a result of the process as second lane information; a means which calculates lane similarity, which is a degree of similarity between the shape of the lane indicated by the first lane information and the shape of the lane indicated by the second lane information; and an actual lane recognizing means which recognizes an actual lane of the road on the basis of the first lane information, the second lane information, and a result of comparison between the lane similarity and a given threshold value, wherein: