Apparatus and method for generating lane information

Abstract

The present disclosure provides an apparatus and method for generating lane information. The method includes acquiring information about structures located around a vehicle and driving information of a surrounding vehicle based on information collected by a sensor and pre-stored navigation information, and generating geometric information about a travel lane of the vehicle in a road region based on the information about the structures and the driving information of the surrounding vehicle.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2021-0099621, filed on July 29, 2021, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to a method and apparatus for generating lane information performed by an in-vehicle electronic device, and more specifically, to a method and apparatus for generating information about a driving lane using information about the structure around the vehicle and driving information of surrounding vehicles. Background Technology

[0004] The content described herein is for background information only and does not constitute prior art.

[0005] Recently, with the diversification of vehicle functions, the number of vehicles equipped with various advanced driver assistance systems (ADAS) is increasing. These driver assistance systems detect potential incidents while the vehicle is moving or stationary by communicating with various sensors, and warn the driver or take control of the vehicle. A representative example of a driver assistance system is Lane Keeping Assist System (LKAS). Lane Keeping Assist System warns the driver of lane departure when the vehicle is about to leave its lane due to negligence, and takes control to keep the vehicle within its lane.

[0006] In addition, driver assistance systems can implement Electronic Stability Program (ESP), Adaptive Cruise Control (ACC), Lane Departure Warning System (LDWS), etc.

[0007] Such driver assistance systems typically detect lanes by analyzing images captured by cameras and perform functions based on the identified lanes, such as maintaining distance between vehicles and maintaining lane position.

[0008] However, the driver assistance system may malfunction or fail to operate when it is difficult to identify lanes from images acquired by the camera. For example, in situations where the camera does not detect lanes, such as at intersections without lanes, on unpaved roads, in alleyways, or on roads in rainy weather, the driver assistance system may be unable to perform its intended function.

[0009] Therefore, there is a need to investigate a method for inferring information about the road on which vehicles are traveling when it is difficult to rely solely on information obtained through cameras. Summary of the Invention

[0010] Various aspects of this disclosure relate to a method for generating lane information performed by an onboard electronic device. The method includes: acquiring information about structures surrounding a vehicle and driving information of surrounding vehicles based on information collected by sensors and pre-stored navigation information; and generating geometric information about the vehicle's driving lane in a road area based on the information about the structures and the driving information of the surrounding vehicles.

[0011] According to at least one aspect, this disclosure provides an apparatus for generating lane information. The apparatus includes an acquisition unit and a control unit, the acquisition unit being configured to acquire information about structures surrounding a vehicle and driving information of surrounding vehicles based on information collected by sensors and pre-stored navigation information; the control unit being configured to generate geometric information about the vehicle's driving lane in a road area based on the information about the structures and the driving information of the surrounding vehicles. Attached Figure Description

[0012] Figure 1 This is a configuration diagram illustrating the configuration of a vehicle according to an embodiment of the present disclosure.

[0013] Figure 2 This is a diagram illustrating an embodiment of generating lane information according to an embodiment of the present disclosure.

[0014] Figure 3 This is a diagram illustrating an embodiment of generating lane information according to an embodiment of the present disclosure.

[0015] Figure 4 This is a diagram illustrating an embodiment of generating lane information according to an embodiment of the present disclosure.

[0016] Figure 5 This is a diagram illustrating an embodiment of generating lane information according to an embodiment of the present disclosure.

[0017] Figure 6 This is a flowchart illustrating a method for generating lane information according to an embodiment of the present disclosure. Detailed Implementation

[0018] The method and apparatus for generating lane information according to the embodiments can accurately generate information about the lane in which the vehicle is traveling, using information about the structure around the vehicle and driving information of surrounding vehicles, when the information obtained by the camera is inaccurate.

[0019] The method and apparatus for generating lane information according to the embodiments can accurately control a driver assistance system or an autonomous driving system using lane information generated based on information about the structure around the vehicle and driving information of surrounding vehicles.

[0020] The problems to be solved by this disclosure are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art through the following description.

[0021] In the following description, some embodiments of the present disclosure will be described in detail with reference to exemplary accompanying drawings. Regarding the reference numerals for components in the corresponding drawings, it should be noted that even if the same reference numerals are shown in different drawings, these same reference numerals are assigned to the same components. Furthermore, in the description of this disclosure, detailed descriptions of well-known configurations or functions related to this disclosure that may obscure the subject matter will be omitted.

[0022] Additionally, terms such as "first," "second," "i)," "ii)," "a)," and "b" may be used in the description of components of this disclosure. These terms are intended only to distinguish the corresponding component from other components, and the nature, order, or sequence of the corresponding components are not limited by these terms. In the specification, when a unit "comprises," "includes," or "is provided with" a component, unless otherwise expressly stated, it means that other components may also be included, but are not excluded.

[0023] Each component of the apparatus or method according to this disclosure can be implemented as hardware or software, or a combination of hardware and software. Furthermore, the function of each component can be implemented as software, and a microprocessor can execute the software function corresponding to each component.

[0024] In the following text, the types of vehicles include primary vehicles and remote vehicles. A primary vehicle is a vehicle that performs the method for generating lane information according to embodiments of the present invention, and a remote vehicle is a vehicle other than the primary vehicle. The primary vehicle is referred to as a "vehicle," and the remote vehicle is referred to as a "peripheral vehicle."

[0025] Figure 1 This is a configuration diagram illustrating the configuration of a vehicle according to an embodiment of the present disclosure.

[0026] refer to Figure 1 The vehicle 10 includes a sensing unit 100, a communication unit 110, an acquisition unit 120, a storage unit 130, a power supply unit 140, or a control unit 150. An apparatus for generating lane information according to embodiments of the present disclosure (hereinafter referred to as an "electronic device") includes an acquisition unit 120 and a control unit 150. The electronic device may also include a sensing unit 100 and a communication unit 110 as needed.

[0027] The sensing unit 100 collects driving information of the vehicle 10, driving information of surrounding vehicles, and environmental information.

[0028] The sensing unit 100 uses at least one of a camera, radar, LiDAR (Light Detection and Ranging), or ultrasonic sensor to collect information. Specifically, the sensing unit 100 may use a camera to capture images of the area surrounding the vehicle 10, or use radar to measure the distance or speed between the vehicle 10 and adjacent objects. Images captured by the camera may include the structure of the vehicle 10 or surrounding vehicles.

[0029] The sensing unit 100 may also use at least one of a global positioning system (GPS), a wheel speed sensor, a steering angle sensor, and a yaw rate sensor or a gyroscope sensor to collect the vehicle 10's position information and driving information.

[0030] The communication unit 110 performs wireless communication with external devices such as surrounding vehicles and external servers. In addition, the communication unit 110 can communicate with the internal sensors and controllers of the vehicle 10.

[0031] The communication unit 110 can receive driving information from surrounding vehicles or send driving information of vehicle 10 to surrounding vehicles. Here, driving information includes vehicle position, speed, vehicle width, direction, heading angle, path history, predicted path, steering wheel angle, acceleration information, total length, vehicle height, braking system status, indicator light status, etc.

[0032] Furthermore, the communication unit 110 can send information to / receive information from an external server via a base station or roadside device. Here, the external server can be a server of an Intelligent Transportation System (ITS). The communication unit 110 can receive traffic conditions, accident information, etc., from the external server, and can also send the vehicle 10's status and driving information to the external server.

[0033] The communication unit 110 may use at least one of the following as an external communication method for the vehicle 10: vehicular ad hoc network (VANET), wireless access in vehicular environments (WAVE), dedicated short range communication (DSRC), communication access in land mobile (CALM), vehicle-to-everything (V2X) communication, vehicle-to-vehicle (V2V) communication, vehicle-to-infra (V2I) communication, or vehicle-to-network (V2N) communication.

[0034] The communication unit 110 can use at least one of the following as an internal communication method for the vehicle 10: controller area network (CAN), CAN with flexible data rate (CANFD), Ethernet, local interconnect network (LIN), or FlexRay.

[0035] However, the communication method of the communication unit 110 is not limited to the method described above, and any protocol used for communication of the vehicle 10 can be applied.

[0036] Storage unit 130 stores various programs and data required for driving the vehicle 10. For example, storage unit 130 may store data processed by control unit 160. In addition, storage unit 130 may store various types of data required for autonomous driving and / or driving assistance of the vehicle 10.

[0037] Storage unit 130 can store map information. Specifically, storage unit 130 can store a navigation map as map information.

[0038] According to embodiments of this disclosure, navigation information can provide information required for autonomous driving and / or driving assistance of vehicle 10, such as road curvature, road structure, road type, number of lanes on the road, location of buildings, building type, road type, tunnel information, intersection information, road boundaries, traffic signs, and road signs.

[0039] The power supply unit 140 supplies power to the components in the vehicle 10.

[0040] The acquisition unit 120 acquires information about structures near the vehicle 10 and driving information of surrounding vehicles based on information collected by the sensing unit 100 and navigation information pre-stored in the storage unit 130.

[0041] Specifically, the acquisition unit 120 can acquire information about the structure around the vehicle 10 and driving information of surrounding vehicles from at least one of images captured by a camera, radar data collected by radar, or pre-stored navigation information.

[0042] According to embodiments of this disclosure, information about the structure includes at least one of the structure's location, size, or type. Here, structure type refers to the type of a stationary object such as a building, guardrail or railing, traffic light, street light, tunnel wall, boundary stone, utility pole, or median strip. The structure type can be determined based on a preset classification.

[0043] Information about the structure can be obtained based on information collected by the sensing unit 100 and navigation information stored in the storage unit 130. For example, the acquisition unit 120 can identify the location, region or area, and size of the structure from image or radar data, and can identify the type of structure from navigation information.

[0044] According to embodiments of this disclosure, the driving information of surrounding vehicles includes at least one of the following: the location, stopping history, or route history of the surrounding vehicles. Here, the stopping history of the surrounding vehicles refers to the history of the surrounding vehicles stopping at a specific location for a predetermined period of time. The route history of the surrounding vehicles refers to past routes derived from the past locations of the surrounding vehicles.

[0045] Driving information of surrounding vehicles can be obtained from the information collected by the sensing unit 100. For example, the acquisition unit 120 can obtain information such as the position, speed, stopping history, or route history of surrounding vehicles from image or radar data.

[0046] The acquisition unit 120 can also acquire information about the type of road in which the vehicle 10 is located. For example, the acquisition unit 120 can acquire information indicating whether the road in which the vehicle 10 is located is an unpaved road, a back alley, a highway, a regular road, or a road in a tunnel, based on information collected by the sensing unit 100 and navigation information. The logic used to generate the geometric information of the driving lane of the vehicle 10 varies depending on the type of road in which the vehicle 10 is located.

[0047] The control unit 150 generates information about the lane in which the vehicle 10 is traveling, based on the information acquired by the acquisition unit 120.

[0048] Specifically, the control unit 150 generates the geometric information of the driving lane of the vehicle 10 in the road area based on information about the structure and driving information of surrounding vehicles.

[0049] According to embodiments of this disclosure, the geometric information regarding the driving lane includes at least one of the following: the position, width, curvature, or curvature rate of the driving lane of vehicle 10. Here, the position of the driving lane refers to the order in which vehicle 10 is located within the driving lanes of a road comprising multiple lanes.

[0050] Here, the curvature or rate of curvature change of the driving lane of vehicle 10 can be calculated based on the type of road where vehicle 10 is located.

[0051] exist Figures 2 to 5 The diagram illustrates an example where the control unit 150 generates geometric information about the driving lane of the vehicle 10.

[0052] According to embodiments of this disclosure, when it is determined, based on the location and navigation information of vehicle 10, that vehicle 10 is located in an area where lanes are difficult to detect, control unit 150 can generate geometric information of the driving lane of vehicle 10. For example, control unit 150 can generate geometric information of the driving lane of vehicle 10 at intersections without lanes or on unpaved roads.

[0053] At the same time, the control unit 150 can detect the lane in which the vehicle 10 is traveling based on the information collected by the sensing unit 100. For example, the control unit 150 can detect the lane from an image captured by a camera.

[0054] The control unit 150 can use the detected lane to generate a driving route for the vehicle 10 and control the vehicle 10 according to the driving route.

[0055] However, there may be situations where the control unit 150 has difficulty detecting lanes from the information collected by the sensing unit 100. These situations may include difficulties in identifying or detecting lanes, such as at intersections, on unpaved roads, in alleyways, and on roads in rainy weather.

[0056] In this situation, the control unit 150 can correct the lane or generate a driving route for the vehicle 10 based on the geometric information of the driving lane of the vehicle 10.

[0057] Specifically, when no lane is detected, the control unit 150 can generate a driving route for the vehicle 10 based on the generated geometric information. That is, the control unit 150 can generate a driving route for the vehicle 10 based on at least one of the position, width, curvature, or rate of change of curvature of the lane in which the vehicle 10 is traveling.

[0058] On the other hand, when the detected lane information is invalid, the control unit 150 can correct the lane detected by the sensing unit 100 based on the generated geometric information. That is, when the accuracy of the detected lane is low, the control unit 150 can correct the lane based on at least one of the position, width, curvature, or rate of change of curvature of the lane in which the vehicle 10 is traveling.

[0059] In addition, the control unit 150 can control the driver assistance system or autonomous driving of the vehicle 10 based on the generated lane or the corrected lane.

[0060] The control unit 150 can control at least one of the following as functions of a driver assistance system: engine management system (EMS), electronic stability control (ESC), electronic stability program (ESP), vehicle dynamic control (VDC), lane keeping assistance system (LKAS), smart cruise control (SCC), adaptive cruise control (ACC), autonomous emergency braking (AEB), highway driving assist (HDA), highway driving pilot (HDP), lane departure warning (LDW), driver awareness warning (DAW), or driver state warning (DSW).

[0061] Figure 2 This is a diagram illustrating an embodiment of generating lane information according to an embodiment of the present disclosure.

[0062] An electronic device according to an embodiment of the present disclosure can generate geometric information about the driving lane in which a vehicle (not shown) is located, based on information about the structure at the intersection and information about surrounding vehicles.

[0063] Figure 2 Multiple structures 200, 202, and 204, as well as multiple peripheral vehicles, are shown. The multiple peripheral vehicles include vehicle A, vehicle B, vehicle C, vehicle D, vehicle E, and vehicle F.

[0064] According to an embodiment of this disclosure, when a vehicle intends to make a right turn at position 1, the electronic device can generate geometric information about the right turn lane based on information about the plurality of structures 200, 202 and 204 and driving information of the plurality of surrounding vehicles.

[0065] Specifically, the electronic device uses navigation information and the vehicle's location to confirm that the vehicle is at the intersection.

[0066] The electronic device acquires driving information from multiple surrounding vehicles via sensors. It can obtain the route history of vehicles E and D. Furthermore, if vehicles C and B have a history of stopping at stop lines, the electronic device can obtain their stopping history.

[0067] In addition, the electronic device uses navigation information to obtain information about the location, size, and type of the multiple structures 200, 202, and 204. The electronic device can also obtain the arrangement information of the multiple structures 200, 202, and 204.

[0068] The electronic device can generate at least one of the following: position, width, curvature, or rate of curvature change of the driving lane at position 1, based on the route history of vehicle D, the route history of vehicle E, the stop history of vehicle B, the stop history of vehicle C, and the positions of multiple structures 200, 202, and 204.

[0069] For example, since vehicle E is traveling in the same lane as the vehicle's intended lane, the electronic device can generate geometric information about the vehicle's lane based on vehicle E's route history. Furthermore, since vehicles B, C, and D are traveling in lanes of the road the vehicle intends to enter, and multiple structures 200, 202, and 204 are located around the vehicle, the electronic device can generate geometric information about the vehicle's lane without overlapping with the stopping history of vehicle B, the stopping history of vehicle C, the route history of vehicle D, or the positions of the multiple structures 200, 202, and 204.

[0070] According to an embodiment of the present invention, when a vehicle intends to turn left at position 2, the electronic device can generate geometric information of the left-turn lane based on information about multiple structures 200, 202 and 204 and driving information of multiple surrounding vehicles.

[0071] Specifically, the electronic device uses navigation information and the vehicle's location to confirm that the vehicle is at the intersection.

[0072] The electronic device acquires driving information from multiple surrounding vehicles via sensors. It can obtain the route history of vehicles A, B, C, D, and F. Furthermore, if vehicle F has a history of stopping at a stop line, the electronic device can obtain its stopping history.

[0073] In addition, the electronic device uses navigation information to obtain information about the location, size, and type of the multiple structures 200, 202, and 204. The electronic device can also obtain the arrangement information of the multiple structures 200, 202, and 204.

[0074] The electronic device can generate at least one of the following: the position, width, curvature, or rate of change of curvature of the lane for left turning at location 2, based on the route history of vehicles A, B, C, D, and F, the stopping history of vehicle F, and information about multiple structures 200, 202, and 204.

[0075] Electronic devices can generate a driving route for a vehicle based on geometric information about its lane, or they can correct lanes that are not recognized by cameras. For example, the electronic devices can generate a driving route based on the right-turn lane at location 1. The vehicle then travels along the generated driving route.

[0076] In this way, electronic devices that generate information about the lane in which a vehicle is located can generate the geometric information of the vehicle's driving lane based on information about the structure and driving information of surrounding vehicles, and can control driver assistance systems or autonomous driving systems.

[0077] Figure 3 This is a diagram illustrating an embodiment of generating lane information according to an embodiment of the present disclosure.

[0078] refer to Figure 3 According to embodiments of the present disclosure, an electronic device can generate geometric information about the driving lane of vehicle 300 on a road without lanes, based on information about a plurality of structures 310, 312 and 314 and information about a plurality of surrounding vehicles 320, 322, 324, 326 and 328.

[0079] The electronic device can generate at least one of the position, width, curvature, or rate of curvature change of the driving lane of vehicle 300 based on the position and arrangement information of multiple structures 310, 312, and 314 and the position and arrangement information of multiple surrounding vehicles 320, 322, 324, 326, and 328.

[0080] According to embodiments of this disclosure, taking into account the types of the various structures 310, 312, and 314, the electronic device can generate geometric information about the driving lane of the vehicle 300. For example, when structures 310, 312, and 314 are buildings, the electronic device can create a wide driving lane for the vehicle 300. On the other hand, when structures 310, 312, and 314 are guardrails or barriers, the electronic device can create a narrow driving lane.

[0081] The electronic device can generate a driving route for vehicle 300 or correct the lane detected by the camera based on the generated geometric information.

[0082] Figure 4 This is a diagram illustrating an embodiment of generating lane information according to an embodiment of the present disclosure.

[0083] refer to Figure 4 When the information collected by the sensors according to embodiments of the present disclosure is inaccurate, the electronic device can generate geometric information about the driving lane in which the vehicle 400 is located based on information about the tunnel wall 420 and driving information of multiple surrounding vehicles 410, 412 and 414.

[0084] Electronic devices can generate geometric information about the driving lane of vehicle 400 based on the location, region or area, and type of tunnel wall 420, as well as the location and route history of multiple surrounding vehicles 410, 412, and 414. Figure 4 Since the route histories of multiple surrounding vehicles 410, 412, and 414 are all right-curving, the electronic device can generate the curvature and rate of curvature change of the right-curving driving lane of vehicle 400. Furthermore, since the tunnel wall 420 is right-curving, the electronic device can generate the curvature and rate of curvature change of the right-curving driving lane of vehicle 400. Additionally, the electronic device can generate at least one of the position, width, curvature, or rate of curvature change of the lane in which vehicle 400 is currently traveling, based on the positions and route histories of the multiple surrounding vehicles 410, 412, and 414.

[0085] The electronic device can generate a driving route for vehicle 400 or correct the lane detected by the camera based on the generated geometric information.

[0086] Figure 5 This is a diagram illustrating an embodiment of generating lane information according to an embodiment of the present disclosure.

[0087] refer to Figure 5 According to embodiments of this disclosure, the electronic device can generate geometric information about the driving lane of vehicle 500 in an unpaved road segment 530 without lanes, based on driving information of surrounding vehicles 510.

[0088] Electronic devices can determine, based on navigation information or information collected by sensors, whether the vehicle 500 is moving from a regular road 520 into an unpaved road section 530 without lanes.

[0089] The electronic device acquires the position and route history of oncoming surrounding vehicles 510. Based on the position or route history of the surrounding vehicles 510, the electronic device can generate information about at least one of the following regarding the position, width, curvature, and rate of change of curvature of the driving lane of vehicle 500. Furthermore, the electronic device can generate geometric information about the driving lane of vehicle 500 by further considering the position and arrangement information of guardrails or barriers on the shoulder, trees, and streetlights, which are information about the structure.

[0090] Based on the generated geometric information, the electronic device can generate a driving route for vehicle 500, or correct the lane detected by the camera.

[0091] Figure 6 This is a flowchart illustrating a method for generating lane information according to an embodiment of the present disclosure.

[0092] refer to Figure 6 The vehicle's electronic devices acquire information about the structures around the vehicle and driving information about surrounding vehicles based on information collected by sensors and pre-stored navigation information (S600).

[0093] Here, information about the structure includes at least one of its location, size, or type. Additionally, driving information about surrounding vehicles includes at least one of their location, stopping history, or route history.

[0094] The electronic device generates geometric information about the vehicle's driving lane in the road area based on information about the structure and driving information of adjacent vehicles (S602).

[0095] Here, the geometric information of the vehicle's driving lane includes at least one of the lane's position, width, curvature, or rate of change of curvature.

[0096] The electronic device then determines whether the sensor has detected the lane (S604).

[0097] When a lane is detected by a sensor, the electronic device corrects the lane detected by the sensor based on the geometric information of the vehicle's driving lane (S606).

[0098] On the other hand, when no lane is detected by the sensors, the electronic device can directly generate the vehicle's driving route based on the geometric information of the vehicle's driving lane (S608).

[0099] Electronic devices can control a vehicle’s driver assistance systems or autonomous driving systems based on the corrected lane or the generated driving route.

[0100] Through the operations described above, the electronic device can generate the geometric information of a vehicle's driving lane on roads where lanes are difficult to detect by sensors or where lanes do not exist, based on information about the structure and driving information of surrounding vehicles. Furthermore, the electronic device can correct the lane or generate a driving route based on this geometric information, and use the corrected lane or generated driving route for use in driver assistance systems or autonomous driving systems.

[0101] According to an embodiment, the method and apparatus for generating lane information can accurately generate information about the lane in which the vehicle is traveling by using information about the structure around the vehicle and driving information of surrounding vehicles, even when the information obtained by the camera is inaccurate.

[0102] According to embodiments, the method and apparatus for generating lane information can accurately control a driver assistance system or an autonomous driving system using lane information generated based on information about the structure around the vehicle and driving information of surrounding vehicles.

[0103] Various embodiments of the systems and technologies described herein may include digital electronic circuits, integrated circuits, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations using one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor (which may be a dedicated or general-purpose processor) coupled to receive data and instructions from a storage system and send data and instructions to the storage system, at least one input device, and at least one output device. The computer program (also referred to as a program, software, software application, or code) contains instructions for the programmable processor and is stored in a computer-readable recording medium.

[0104] Computer-readable recording media include all types of recording devices that store data that can be read by a computer system. Computer-readable recording media can include non-volatile or non-transitory media such as ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, magneto-optical disk, and storage devices, and can also include temporary media such as data transfer media. Furthermore, computer-readable recording media can be distributed across networked computer systems and can store and execute computer-readable code in a distributed manner.

[0105] Although each process is described to be executed sequentially in the flowcharts / timing diagrams of this specification, this is only for illustrating the technical concept of one embodiment of this disclosure. In other words, since those skilled in the art to which the embodiments of this disclosure pertain can make various modifications and alterations by changing the order described in the flowcharts / timing diagrams or by executing them in parallel with one or more of these steps without departing from the essential characteristics of this disclosure, the flowcharts / timing diagrams are not limited to the timing order.

[0106] Although embodiments of this disclosure have been described for illustrative purposes, those skilled in the art will understand that various modifications, additions, and substitutions are possible without departing from the spirit and scope of this disclosure. Therefore, embodiments of this disclosure have been described for the sake of brevity and clarity. The scope of the technical concept of these embodiments is not limited by the description. Accordingly, those skilled in the art should understand that the scope of this disclosure should not be limited to the embodiments explicitly described above, but rather to the claims and their equivalents.

Claims

1. A method for generating lane information performed by an onboard electronic device, the method comprising: Based on information collected by sensors and pre-stored navigation information, information about the structure around the vehicle and driving information of surrounding vehicles is obtained. as well as Based on the information about the structure and the driving information of the surrounding vehicles, geometric information about the vehicle's driving lane in the road area is generated; The geometric information regarding the driving lane includes the driving lane's position, width, curvature, and rate of change of curvature. The driving information of the surrounding vehicles includes the stopping history of the surrounding vehicles; The stopping history of the surrounding vehicles includes the history of the surrounding vehicles stopping at a specific location for a predetermined time. The generation of geometric information about the vehicle's driving lane includes determining the width of the driving lane based on the type of the structure; and Specifically, geometric information about the driving lanes of vehicles on roads without lanes is generated based on information about the position and arrangement of the multiple structures and information about the position and arrangement of the multiple surrounding vehicles.

2. The method according to claim 1, wherein, The information about the structure includes at least one of the structure's location, size, or type.

3. The method according to claim 1, wherein, The driving information of the surrounding vehicles includes at least one of the location or path history of the surrounding vehicles.

4. The method of claim 1, further comprising correcting the lane detected by the sensor based on the geometric information about the driving lane.

5. The method of claim 1, further comprising generating the vehicle's travel route based on the geometric information about the travel lane.

6. An apparatus for generating lane information, comprising: An acquisition unit is configured to acquire information about structures around the vehicle and driving information of surrounding vehicles based on information collected by sensors and pre-stored navigation information. as well as A control unit configured to generate geometric information about the vehicle's driving lane in a road area based on the information about the structure and the driving information of the surrounding vehicles; The geometric information regarding the driving lane includes the driving lane's position, width, curvature, and rate of change of curvature. The driving information of the surrounding vehicles includes the stopping history of the surrounding vehicles; The stopping history of the surrounding vehicles includes the history of the surrounding vehicles stopping at a specific location for a predetermined time. The control unit determines the width of the driving lane based on the type of the structure; and The control unit generates geometric information about the vehicle's driving lane on a road without lanes, based on information about the position and arrangement of the plurality of structures and information about the position and arrangement of the plurality of surrounding vehicles.

7. The apparatus according to claim 6, wherein, The information about the structure includes at least one of the structure's location, size, or type.

8. The apparatus according to claim 6, wherein, The driving information of the surrounding vehicles includes at least one of the surrounding vehicles' location or route history.

9. The apparatus according to claim 6, wherein, The control unit corrects the lane detected by the sensor based on the geometric information about the driving lane.

10. The apparatus according to claim 6, wherein, The control unit generates the vehicle's driving route based on the geometric information about the driving lane.

11. A computer-readable recording medium storing instructions that, when executed by a computer, cause the computer to perform: Based on information collected by sensors and pre-stored navigation information, information about the structure around the vehicle and driving information of surrounding vehicles is obtained. as well as Based on the information about the structure and the driving information of the surrounding vehicles, geometric information about the vehicle's driving lane in the road area is generated; in, The geometric information regarding the driving lane includes the position, width, curvature, and rate of change of curvature of the driving lane; The driving information of the surrounding vehicles includes the stopping history of the surrounding vehicles; The stopping history of the surrounding vehicles includes the history of the surrounding vehicles stopping at a specific location for a predetermined time. The generation of geometric information about the vehicle's driving lane includes determining the width of the driving lane based on the type of the structure; and Specifically, geometric information about the driving lanes of vehicles on roads without lanes is generated based on information about the position and arrangement of the multiple structures and information about the position and arrangement of the multiple surrounding vehicles.

Images