Patent Document ID: 20120271483
Application ID: 13424735
Patent Status: 0

Claim One:
1. A road-shape recognition method for vehicles, for calculating a lane probability that is a probability that an object to be recognized is on the same lane where a vehicle to which the method is applied travels, on the basis of a curvature of a road where the vehicle travels and a position of the object relative to the vehicle, the curvature being calculated from a turning condition of the vehicle and a speed of the vehicle, wherein the method comprises: determining a probability that the object is on the same lane where the vehicle travels, according to a recognized road shape ahead of the vehicle and a degree of the recognition, the road shape being recognized according to a distance to the object and an angle to the object in a vehicle's width direction; calculating a correction value used for correcting the lane probability in conformity with the determination; and determining whether or not there is a difference between the curvature of the road where the vehicle travels and a curvature of the recognized road shape to correct the lane probability using the correction value when there is no difference, or not to correct the lane probability using the correction value when there is a difference.