Patent ID: 8886364

Claim:
A method for determining a traveling condition of a host vehicle during an exit from a main road to an access road, comprising: accessing, with a processor, a host vehicle position; accessing, with the processor, road network data including road types; accessing, with the processor, road surface marking property data including road surface marking positions; based on the host vehicle position, the road network data, and the road surface marking property data, determining, with the processor, that a condition of the host vehicle corresponds to an exit start scene when a position of a broken line marking in front of the host vehicle and a position of zebra zone in front of the host vehicle match, the broken line marking indicating an exit section; and determining, with the processor, an exit start timing of the host vehicle when the condition is determined to correspond to the exit start scene by: obtaining a relative distance between the host vehicle position and a reference point indicating an end point of the exit section when a length of the broken line marking is equal to or greater than a predetermined length; and determining that the exit start timing has arrived when the relative distance is shorter than a predetermined length and the host vehicle has crossed the broken line marking.