Patent ID: 7664599

Claim:
A digital lane mark generation apparatus for use in a vehicle for generating a digital lane mark indicating a driving orbit of a vehicle, the digital lane mark generation apparatus comprising: GPS coordinate reception means for obtaining GPS coordinates, which are global geodetic coordinates (X, Y, Z), of the vehicle from a GPS satellite; gyro sensor means for calculating measurement values of a gradient (ψ, θ, φ) by measuring the gradient of the vehicle; at least one of a side camera for photographing a side of the vehicle and a downward camera for photographing directly below the vehicle; and digital lane mark generation means for generating a digital lane mark indicating the driving orbit of the vehicle, the digital lane mark being generated by (i) relating the global geodetic coordinates (X, Y, Z), the calculated measurement values of the gradient (ψ, θ, φ), and a camera image, which is an image photographed from the at least one of the side camera and the downward camera, to a standard time (t), and (ii) using a line segment (S), a circular arc (R), a clothoid curve (A), an altitude (Z), a longitudinal gradient, and/or a crossing gradient cant.