Lane recognition method and lane recognition device

Abstract

The present invention provides a lane recognition method and a lane recognition device. When first boundary information of a lane-dividing boundary obtained from map information (14) and second boundary information of a lane-dividing boundary obtained from a detection device of a vehicle (V) are compared to identify the driving lane of a vehicle (V), a center line (C) that can move in the width direction of the road on which the vehicle (V) is traveling, i.e., a movable center line, is detected based on at least one of the first boundary information and the second boundary information. When the movable center line is detected, the first boundary information and the second boundary information are not compared on the side of the right and left sides of the vehicle (V) where the movable center line is detected.

Description

Technical Field

[0001] The present invention relates to a lane recognition method and a lane recognition device. Background Art

[0002] A self-position estimating device is known that estimates a vehicle's self-position on a map based on an image of the vehicle's surroundings, vehicle status variables such as vehicle speed, the vehicle's latitude and longitude, and map data. The device then identifies the intervals of increase or decrease in the number of lanes on a road based on the image. When the intervals of increase or decrease in the number of lanes are identified, the weight of the estimated position based on the map data is set to be smaller than when the intervals of increase or decrease in the number of lanes are not identified, and the estimated position of the vehicle is corrected (Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2019-207190

[0006] Problems to be solved by the invention

[0007] However, in the above-mentioned prior art, when the position of the center line changes in the width direction of the road, there may be a problem that the lane information obtained from the image around the vehicle and the lane information obtained from the map information are inconsistent, and the vehicle's driving position cannot be correctly estimated. Summary of the Invention

[0008] An object of the present invention is to provide a lane recognition method and a lane recognition device that can suppress erroneous recognition of a vehicle's traveling position.

[0009] The present invention solves the above-mentioned problem through the following processing: when the first boundary information of the boundary dividing the lane obtained from the map information and the second boundary information of the boundary dividing the lane obtained from the vehicle's detection device are compared to identify the vehicle's driving lane, based on at least one of the first boundary information and the second boundary information, a center line that can move in the width direction of the road on which the vehicle is traveling, that is, a movable center line, is detected; when the movable center line is detected, the first boundary information and the second boundary information are not compared on the side of the right and left sides of the vehicle where the movable center line is detected.

[0010] Effects of the Invention

[0011] According to the present invention, it is possible to suppress erroneous recognition of the vehicle's traveling position. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a block diagram showing a driving assistance system including the driving assistance device of the present invention.

[0013] Figure 2A Yes means through Figure 1 A plan view (part 1) of an example of a driving scene in which the driving assistance system shown performs driving assistance.

[0014] Figure 2B Yes means through Figure 1 A plan view (part 2) of an example of a driving scene in which the driving assistance system shown performs driving assistance.

[0015] Figure 3A Yes Figure 1 Flowchart (Part 1) of an example of the processing sequence in the driving assistance system.

[0016] Figure 3B Yes Figure 1 Flowchart of an example of the processing sequence in the driving assistance system (Part 2). DETAILED DESCRIPTION

[0017] The following describes an embodiment of the present invention with reference to the accompanying drawings. The following description assumes that vehicles are traveling on the right side of the road in countries with right-hand traffic laws. In countries with left-hand traffic laws, vehicles are traveling on the left side of the road, so the terms "left" and "right" are interchanged symmetrically in the following description.

[0018] (Structure of driving assistance system)

[0019] Figure 1 This is a block diagram showing the driving assistance system 10 of the present invention. The driving assistance system 10 is an on-board system that uses autonomous driving control to drive the vehicle to a set destination. Autonomous driving control refers to the use of the driving assistance device 19 described later to autonomously control the vehicle's driving movements. These driving movements include all driving movements such as acceleration, deceleration, starting, stopping, turning right or left, changing lanes, and pulling over. In addition, autonomously controlling driving movements means that the driving assistance device 19 uses the vehicle's devices to control driving movements. In other words, the driving assistance device 19 intervenes and controls these driving movements within a pre-set range. Driving movements that are not intervened are manually operated by the driver.

[0020] The driving assistance system 10 of this embodiment can correctly identify the lane in which the vehicle is traveling (hereinafter also referred to as the "driving lane") when the center line of the road is movable in the width direction of the road on which the vehicle is traveling (that is, when the road on which the vehicle is traveling has variable lanes). Hereinafter, the center line that is movable in the width direction of the road on which the vehicle is traveling is also referred to as the "movable center line." When the center line is moved in the width direction of the road, the type of line marked on the road surface can be changed. For example, the position of the center line of the road can be moved by switching the solid white line of the center line to a dashed line or switching one of the dashed white lines marked on the road surface to a solid line.

[0021] A center line is not limited to a line marked on the road surface, as long as it demarcates the direction of travel of vehicles on the road. It can also be an object that prevents vehicles from changing lanes across the center line. Examples of such objects include structures such as medians and rectangular or circular objects that serve as vehicle barriers. An example of a movable center line is the movable barrier on the Golden Gate Bridge in San Francisco, USA. A movable barrier is a block that can be moved across the width of the road using a barrier actuator.

[0022] like Figure 1 As shown in FIG. 1 , the driving assistance system 10 includes: an imaging device 11, a distance measuring device 12, a state detection device 13, map information 14, a position detection device 15, a navigation device 16, a vehicle control device 17, a display device 18, and a driving assistance device 19. Figure 1 As shown, the driving support device 19 of this embodiment includes a lane recognition device having a lane recognition function as a part thereof. The devices constituting the driving support system 10 are connected via a CAN (Controller Area Network) or other in-vehicle LAN and can transmit and receive information to and from each other.

[0023] The imaging device 11 is a device that uses images to identify objects around the vehicle. For example, it can be a camera equipped with an imaging element such as a CCD, an ultrasonic camera, or an infrared camera. Multiple imaging devices 11 can be installed on a single vehicle. For example, they can be positioned on the front grille, below the left and right door mirrors, and near the rear bumper. This reduces blind spots when identifying objects around the vehicle.

[0024] The distance measuring device 12 is a device used to calculate the relative distance and relative speed between the vehicle and an object. It can be a radar device or sonar such as a laser radar, millimeter wave radar (LRF), a LiDAR (light detection and ranging) unit, or an ultrasonic radar. Multiple distance measuring devices 12 can be installed on a single vehicle, for example, in the front, right, left, and rear of the vehicle. This allows accurate calculation of the relative distance and relative speed to objects around the vehicle.

[0025] Objects detected by the camera 11 and ranging device 12 include lane boundaries, center lines, road markings, medians, guardrails, curbs, highway sidewalls, road signs, traffic lights, crosswalks, construction sites, accident scenes, and traffic restrictions. These objects also include obstacles that may affect the vehicle's movement, such as cars (other vehicles), motorcycles, bicycles, and pedestrians. The driving assistance device 19 acquires detection results from the camera 11 and ranging device 12 at specified intervals, as needed.

[0026] Furthermore, the detection results from the camera 11 and the distance measuring device 12 can be integrated or synthesized by the driving assistance device 19, thereby supplementing the missing information about the detected object. For example, the driving assistance device 19 can calculate the position information of the object based on the vehicle's driving position, i.e., its own position information, obtained by the position detection device 15, and the relative position (distance and direction) between the vehicle and the object. The calculated position information of the object is synthesized by the driving assistance device 19, the detection results from the camera 11 and the distance measuring device 12, and multiple pieces of information such as the map information 14, to form environmental information surrounding the vehicle. Furthermore, the detection results from the camera 11 and the distance measuring device 12, as well as the map information 14, can also be used to identify objects surrounding the vehicle and predict their movements.

[0027] The state detection device 13 is a device for detecting the vehicle's driving state. Examples include a vehicle speed sensor, an acceleration sensor, a yaw rate sensor (e.g., a gyroscope), a steering angle sensor, and an inertial measurement unit. These devices are not particularly limited, and known devices can be used. Furthermore, the configuration and number of these devices can be appropriately set within the range that allows for adequate detection of the vehicle's driving state. The driving assistance device 19 acquires detection results from each device at predetermined intervals, as needed.

[0028] Map information 14 is used for generating driving routes and controlling driving behavior, and includes road information, facility information, and their attribute information. This road information and attribute information include information such as road width, road curvature radius, shoulder structures, road traffic regulations (speed limits, lane change permission), merging and diverging points, and lane addition / subtraction locations. Map information 14 is high-definition map information that allows for understanding the movement trajectory of each lane. It includes two-dimensional and / or three-dimensional position information for each map coordinate, road / lane boundary information for each map coordinate, road attribute information, lane uplink / downlink information, lane identification information, and connecting destination lane information.

[0029] The road / lane boundary information in the high-definition map information is information indicating the boundary between the road on which the vehicle is traveling and other roads. The traveling road on which the vehicle is traveling refers to the road on which the vehicle is traveling, and the form of the traveling road is not particularly limited. The boundaries exist on the left and right sides relative to the direction of travel of the vehicle, and the form is not particularly limited. Boundaries are, for example, road surface markings or road structures. Examples of road surface markings include lane boundary lines and center lines, and examples of road structures include central medians, guardrails, curbs, tunnels, and side walls of highways. In addition, at locations such as intersections where the boundary of the traveling road cannot be clearly determined, a boundary is set in advance on the traveling road. This boundary is fictitious and is not an actual road surface marking or road structure.

[0030] The map information 14 is stored in a readable state in a recording medium provided in the driving support device 19, an in-vehicle device, or a server on the network. The driving support device 19 acquires the map information 14 as needed.

[0031] The position detection device 15 is a positioning system for detecting the vehicle's current position. It is not particularly limited, and known devices may be used. For example, the position detection device 15 calculates the vehicle's current position based on radio waves received from GPS (Global Positioning System) satellites. Alternatively, the position detection device 15 may estimate the vehicle's current position based on vehicle speed and acceleration information obtained from the vehicle speed sensor, acceleration sensor, and gyro sensor serving as the state detection device 13. The estimated current position is then compared with the map information 14 to calculate the vehicle's current position.

[0032] The navigation device 16 refers to the map information 14 and calculates a driving route from the vehicle's current position, detected by the position detection device 15, to a destination set by a passenger (including the driver). Using the road information and facility information from the map information 14, the navigation device 16 searches for a driving route to reach the destination from the vehicle's current position. The driving route includes at least information about the road, lane, and direction of travel, and is represented, for example, as a line. Multiple driving routes may be found depending on the search conditions. The driving route calculated by the navigation device 16 is output to the driving assistance device 19.

[0033] The vehicle control device 17 is an on-board computer such as an electronic control unit (ECU) that electronically controls on-board devices that restrict the vehicle's travel. The vehicle control device 17 includes a vehicle speed control device 171 that controls the vehicle's travel speed, and a steering control device 172 that controls the vehicle's steering operation. The vehicle speed control device 171 and the steering control device 172 autonomously control the operation of their drive devices and steering devices based on control signals input from the driving assistance device 19. As a result, the vehicle can autonomously travel along a set travel path. The information required for autonomous control based on the vehicle speed control device 171 and the steering control device 172, such as the vehicle's travel speed, acceleration, steering angle, and posture, is obtained from the state detection device 13.

[0034] Examples of the drive devices controlled by the vehicle speed control device 171 include an electric motor and / or internal combustion engine serving as a driving source, a power transmission device including a drive shaft and an automatic transmission that transmits the output from these driving sources to the drive wheels, and a drive device that controls the power transmission device. Furthermore, the braking device controlled by the vehicle speed control device 171 is, for example, a braking device that brakes the wheels. A control signal corresponding to the set driving speed is input from the driving assistance device 19 to the vehicle speed control device 171. Based on the control signal input from the driving assistance device 19, the vehicle speed control device 171 generates a signal to control these drive devices and transmits the signal to the drive devices, thereby autonomously controlling the vehicle's driving speed.

[0035] On the other hand, the steering system controlled by the steering control device 172 controls the steering wheel according to the steering angle of the steering wheel. Examples include steering actuators such as electric motors mounted on the column shaft of the steering gear. Based on control signals input from the driving assistance device 19, the steering control device 172 autonomously controls the operation of the steering system so that the vehicle travels while maintaining a predetermined lateral position (the vehicle's left-right position) relative to the set travel path. This control utilizes at least one of the detection results from the imaging device 11 and the distance measuring device 12, the vehicle's travel status obtained by the status detection device 13, the map information 14, and information on the vehicle's current position obtained by the position detection device 15.

[0036] The display device 18 is a device for providing necessary information to the vehicle's occupants. For example, it may be a liquid crystal display (LCD) mounted on the instrument panel, a head-up display (HUD), or other projector. The display device 18 may also include an input device for the vehicle's occupants to input instructions to the driving assistance device 19. Examples of the input device include a touch panel for input via a user's finger or a stylus, a microphone for receiving user voice instructions, and switches mounted on the vehicle's steering wheel. Furthermore, the display device 18 may also include a speaker as an output device.

[0037] The driving assistance device 19 controls the vehicle's travel by coordinating the devices that make up the driving assistance system 10, thereby controlling the vehicle's movement and guiding it to a set destination. The destination is set, for example, by a vehicle occupant. The driving assistance device 19 is, for example, a computer and includes a CPU (Central Processing Unit) 191 as a processor, a ROM (Read Only Memory) 192 storing programs, and a RAM (Random Access Memory) as accessible storage. The CPU 191 is the operating circuit for executing the programs stored in the ROM 192, thereby implementing the functions of the driving assistance device 19.

[0038] The driving assistance device 19 has a driving assistance function that allows the vehicle to travel to a set destination through autonomous driving control. In addition, the driving assistance device 19 of this embodiment has: an information acquisition function that acquires information from the devices that constitute the driving assistance system 10, a detection function that detects the movable center line of the road, a recognition function that recognizes the lane in which the vehicle is traveling, and an estimation function that estimates the driving position of the vehicle. The program stored in ROM 192 has programs for realizing these functions, and these functions are realized by executing the program stored in ROM 192 by CPU 191. Figure 1 In the figure, for convenience, each function is extracted into a functional module and shown.

[0039] (Function of functional module)

[0040] Below, use Figure 2A and Figure 2B Functions realized by the control unit 20 , the acquisition unit 21 , the detection unit 22 , the identification unit 23 , and the estimation unit 24 as functional blocks will be described.

[0041] The control unit 20 has a function of causing the vehicle to travel to a set destination through autonomous driving control (ie, a driving assist function). Figure 2A 2 is a plan view showing an example of a driving scene in which driving assistance is performed based on the function of the control unit 20. Figure 2A In the driving scene shown, the vehicle V is set to Figure 2A Drive to the destination (not shown) on the upper side. Figure 2A The road shown is right-hand traffic, so vehicle V follows the Figure 2A The lower side of the vehicle moves in the direction of the upper side.

[0042] Figure 2A The road shown is a 6-lane road, and the lanes are referred to as lane L1, lane L2, lane L3, lane L4, lane L5, and lane L6, starting from the right side of the figure. Figure 2A As shown, lane L1 is divided by boundary B1 and boundary B2, lane L2 is divided by boundary B2 and boundary B3, lane L3 is divided by boundary B3 and center line C, lane L4 is divided by center line C and boundary B4, lane L5 is divided by boundary B4 and boundary B5, and lane L6 is divided by boundary B5 and boundary B6. Figure 2A In the driving scene shown, the center line C is located between lanes L3 and L4, distinguishing the driving directions of vehicles on the road. The driving directions of lanes L1 to L3 are from Figure 2A The direction of the lanes L4 to L6 is from the bottom to the top. Figure 2A The upper side is facing the lower side. Figure 2A The center line C shown is a movable barrier (i.e., a movable center line) that can be moved in the width direction of the road by a barrier transfer mechanism.

[0043] The control unit 20 obtains necessary information from the imaging device 11, the distance measuring device 12, the state detection device 13, the position detection device 15, and other devices to identify the environment surrounding the vehicle V. Furthermore, the vehicle control device 17 (specifically, the vehicle speed control device 171 and the steering control device 172) autonomously controls the travel of the vehicle V to prevent the vehicle V from colliding with surrounding obstacles. In this embodiment, the control unit 20 identifies the environment surrounding the vehicle V by collating boundary information of lane boundaries obtained from the map information 14 (hereinafter also referred to as "first boundary information") with boundary information of lane boundaries obtained from the detection device of the vehicle V (hereinafter also referred to as "second boundary information") to identify the lane in which the vehicle V is traveling. Lane identification is primarily achieved through the functions of the acquisition unit 21, the detection unit 22, the recognition unit 23, and the estimation unit 24.

[0044] The acquisition unit 21 has a function for acquiring information from the devices that comprise the driving assistance system 10 (i.e., an information acquisition function). The driving assistance device 19, through the acquisition unit 21, acquires the current position information of the vehicle V from, for example, the position detection device 15. The current position is calculated using not only radio waves received from GPS satellites but also driving state information (e.g., vehicle speed and acceleration information) of the vehicle V acquired from the state detection device 13. Based on the acquired current position information of the vehicle V, the driving assistance device 19 then acquires first boundary information from the map information 14.

[0045] The first boundary information includes information about lane-demarcating boundaries around the current position of the vehicle V. The first boundary information includes, for example, boundary type information and boundary location information. The boundary type information indicates, for example, whether the boundary is a road marking or a road structure. Specifically, it indicates whether the boundary is a road marking such as a white line or an object such as a mobile roadblock. Furthermore, if the boundary is a road marking, the information includes information about the road marking's form. For example, if the boundary is a white line, the information includes information indicating whether the white line is solid or dashed.

[0046] In contrast, boundary position information refers to information indicating where the boundary is located on the road on which the vehicle V is traveling. Boundary position information, for example, includes the positional relationship between boundaries. Specifically, it represents the order of boundaries along the width of the road, based on the rightmost or leftmost boundary relative to the direction of travel of the vehicle V. Alternatively or additionally, the boundary position information includes the positional relationship between the current position of the vehicle V and the boundaries surrounding the current position of the vehicle V.

[0047] In addition, information indicating whether the center line of the road is a movable center line is pre-registered in the map information 14. Therefore, the driving assistance device 19 can obtain information indicating whether the center line of the road on which the vehicle V is traveling is a movable center line as the first boundary information through the function of the acquisition unit 21. In addition, although the movable center line can move along the width direction of the road, the position of the movable center line registered in the map information 14 is set to a representative position (for example, the position where the movable center line exists for the longest time). Figure 2A In the illustrated driving scenario, the position of the center line C registered in the map information 14 is between the boundaries B3 and B4.

[0048] illustrate Figure 2A First, the driving assistance device 19 obtains the first boundary information from the position detection device 15 through the function of the acquisition unit 21. Figure 2A The position of the vehicle V shown in FIG. 1 is taken as the current position information. Next, the driving assistance device 19 obtains the vehicle V present in the map information 14. Figure 2A The information of the boundaries around the current position of the vehicle V shown (first boundary information). In this case, the first boundary information includes information on the boundaries B1 to B6, which are white lines marked on the road surface, and the center line C, which is a movable roadblock, as the boundaries existing around the vehicle V. In addition, it includes information that the boundaries B1 and B6 are solid lines and the boundaries B2 to B5 are dotted lines in the form of white lines. In addition, it includes the arrangement order of the boundaries, starting from the boundary B1 that exists on the far right relative to the traveling direction of the vehicle V. Figure 2A Starting from the right side, the boundary information is arranged in the order of solid white line, namely boundary B1, dotted white line, namely boundary B2, dotted white line, namely boundary B3, movable roadblock (movable center line), namely center line C, dotted white line, namely boundary B4, dotted white line, namely boundary B5, and solid white line, namely boundary B6.

[0049] Next, the second boundary information will be described. The driving assistance device 19 acquires the second boundary information from the detection device of the vehicle V through the function of the acquisition unit 21. The detection device of the vehicle V may be, for example, the imaging device 11 and the distance measuring device 12. The driving assistance device 19 identifies the boundaries that separate the lanes based on the detection results of the imaging device 11 and the distance measuring device 12. Similar to the first boundary information, the second boundary information includes information about the boundaries surrounding the vehicle V (particularly, information about the type and location of the boundaries).

[0050] For example, information about the type of boundary can be obtained from images captured by the camera 11. For example, the driving assistance device 19 captures an image of the area in front of the vehicle V from the camera 11, performs edge detection on the captured image, and then performs pattern matching on the edge-detected image to identify the boundary. This allows for information to be obtained as second boundary information, indicating whether the boundary belongs to a road marking or a road structure. Furthermore, if the identified boundary is a line marked on the road surface, the identification of whether the line is solid or dashed can be performed. This also allows for information about the form of the road marking.

[0051] As another example, the driving assistance device 19 obtains information about the type of boundary based on the detection results of the distance measuring device 12. For example, the device 19 obtains information about the shape of obstacles around the vehicle V and the distance from the vehicle V to the obstacles based on the detection results of radar and / or LiDAR. Based on the information about the shape of the obstacle and the distance to the obstacle, the device 19 determines whether the obstacle is a road structure (such as a median, guardrail, or curb).

[0052] On the other hand, for example, the detection results of the camera 11 and the detection results of the distance measuring device 12 are combined to obtain boundary position information. As an example, the driving assistance device 19 performs image processing such as pattern matching on the image obtained from the camera 11, and identifies the type of boundary existing around the vehicle V based on features such as the shape of the object. Next, based on the detection results of the distance measuring device 12 (e.g., radar), the distance to the boundary existing around the vehicle V and the position of the boundary relative to the position of the vehicle V are detected. In this way, information on the boundary type, the distance from the vehicle V to the boundary, and boundary position information can be obtained as second boundary information.

[0053] Furthermore, when the driving assistance device 19 identifies the type of boundary based on the detection results of the camera 11 and the distance measuring device 12, it determines whether the boundary is the center line of the road on which the vehicle V is traveling. Then, if the boundary is identified as a center line, it determines whether the boundary is movable in the width direction of the road (i.e., whether the boundary is a movable center line). Specifically, if the shapes of objects belonging to the movable center line are pre-registered in the program and pattern matching is performed on the image obtained from the camera 11, it is determined whether an object of the registered shape is included. Alternatively or in addition, it is determined whether the shape of the obstacle obtained from the detection results of the radar and / or LiDAR (distance measuring device 12) is consistent with the shape of the pre-registered movable center line. Thus, the driving assistance device 19 can obtain information indicating whether a movable center line exists around the vehicle V as second boundary information.

[0054] illustrate Figure 2AFirst, the driving assistance device 19 obtains the detection results of the camera 11 and the distance measuring device 12 through the function of the acquisition unit 21. If the range of the object that can be detected by the camera 11 and the distance measuring device 12 is Figure 2A In the detection area X shown, the driving assistance device 19 performs image processing such as edge detection and pattern matching on the image acquired from the imaging device 11 to identify the white lines marked on the road surface, namely boundaries B1 to B3. The white lines are identified as solid lines for boundary B1 and dashed lines for boundaries B2 and B3. Furthermore, the driving assistance device 19 identifies the center line C on the left side of the vehicle V based on the pattern matching described above.

[0055] Next, based on the detection results of the radar and / or LiDAR (distance measuring device 12), the distance from the vehicle V to the center line C and the position of the center line C relative to the vehicle V are detected. In this case, the position information of the center line C includes, for example, information that the center line C exists on the left side of the vehicle V. In addition, the driving assistance device 19 determines whether the recognized center line C is a movable center line. Figure 2A In the driving scene shown, since the center line C is a movable roadblock, it is determined that the center line C is a movable center line. The driving assistance device 19 obtains this information as the second boundary information.

[0056] In addition, based on the distance from the vehicle V to the center line C and the directions of the boundaries B1 to B3a and the center line C relative to the vehicle V, the arrangement order of the boundaries is obtained in the same manner as in the case of the first boundary information. Figure 2A In the driving scene, a solid white line (boundary B1) and a dotted white line (boundary B2) are arranged on the right side of the vehicle, and a dotted white line (boundary B3) and a movable roadblock (center line C) are arranged on the left side of the vehicle. Therefore, on the right side of the vehicle V in the driving direction, the boundary B1, which is located at the farthest position from the vehicle V, is used as a reference to identify the boundary B1 from the vehicle V. Figure 2A Starting from the right side of the vehicle, the boundaries are arranged in the following order: a solid white line (boundary B1), a dotted white line (boundary B2), the vehicle V, a dotted white line (boundary B3a), and a movable barrier (center line C). The order of boundaries differs from the first boundary information in that the position of the vehicle V is included in the order. The driving assistance device 19 obtains this order as the second boundary information.

[0057] Driving assistance device 19 Figure 2AWhen the second boundary information is obtained in the driving scene, the control unit 20 identifies a drivable area Y1 as an area where the vehicle V can travel without contacting obstacles. The drivable area Y1 is the area within the detection area X surrounded by the boundary B1 and the center line C. The driving assistance device 19 autonomously controls the driving of the vehicle V through the vehicle control device 17 so that the vehicle V travels within the drivable area Y1.

[0058] The detection unit 22 has a function (i.e., a detection function) to detect the movable center line of the road. The driving assistance device 19 uses this function to detect the movable center line from at least one of the first boundary information and the second boundary information. As described above, the first boundary information and the second boundary information include information indicating whether the center line of the road on which the vehicle V is traveling is a movable center line. Therefore, the driving assistance device 19 can detect the movable center line based on the first boundary information and the second boundary information.

[0059] For example, in Figure 2A In the illustrated driving scenario, the driving assistance device 19 detects a movable roadblock (center line C) on the road on which the vehicle V is traveling based on the first boundary information. Alternatively or in addition to this, the driving assistance device 19 detects a movable roadblock (center line C) located to the left of the vehicle V based on the second boundary information.

[0060] Furthermore, the detection unit 22 has a function of determining whether the position of the movable center line is within a lane adjacent to the lane in which the vehicle V is traveling, upon detecting the movable center line from the second boundary information. Specifically, the detection unit 22 extracts two boundaries demarcating the lane in which the vehicle V is traveling from the second boundary information and calculates the distance between each of the two extracted boundaries and the movable center line. These distances are measured along the width of the road in which the vehicle V is traveling. If either of the calculated distances is less than the width of a single lane of the road in which the vehicle V is traveling, the movable center line is determined to be within the lane adjacent to the lane in which the vehicle V is traveling. In contrast, if both calculated distances are greater than the width of a single lane of the road in which the vehicle V is traveling, the movable center line is determined to be outside the lane adjacent to the lane in which the vehicle V is traveling.

[0061] use Figure 2A The driving scenario shown in the figure specifically illustrates the above determination. First, the driving assistance device 19 extracts the boundaries B2 and B3 that demarcate the lane L2 in which the vehicle V is traveling from the second boundary information. Then, the distance between the boundaries B2 and B3 and the movable roadblock (center line C) is calculated. Since the movable roadblock is a block, its width is wider than the line marked on the road surface, so the distance between the boundary B3 and the movable roadblock (center line C) is smaller than the width of the lane L3. Therefore, in Figure 2AIn the illustrated driving scenario, it is determined that the position of the movable roadblock (movable center line) is in lane L3 , which is an adjacent lane to lane L2 in which the vehicle V is traveling.

[0062] Furthermore, the detection unit 22 has a function to determine whether the boundary of the lane in which the vehicle V is traveling is a movable center line. Specifically, the detection unit 22 extracts two boundaries that demarcate the lane in which the vehicle V is traveling from the second boundary information and determines whether one of the two extracted boundaries is a movable center line. If either of the two extracted boundaries is a movable center line, the boundary of the lane in which the vehicle V is traveling is determined to be a movable center line. On the other hand, if neither of the two extracted boundaries is a movable center line, the boundary of the lane in which the vehicle V is traveling is determined to be not a movable center line.

[0063] For example, in Figure 2A In the illustrated driving scene, the boundaries B2 and B3 that demarcate the lane L2 in which the vehicle V is traveling are extracted from the second boundary information. Therefore, it is determined that the boundaries of the lane L2 in which the vehicle V is traveling are not the movable center line.

[0064] The recognition unit 23 has a function of recognizing the vehicle's lane. The driving assistance device 19 uses the recognition unit 23 to collate the first boundary information with the second boundary information to recognize the vehicle's lane. This allows the vehicle's lane to be recognized more accurately.

[0065] When comparing the first boundary information and the second boundary information, for example, the boundary types included in the first boundary information and the boundary types included in the second boundary information are sequentially compared, starting from the right or left side relative to the direction of travel of the vehicle V. Specifically, the boundary comparison begins with the boundary at the rightmost or leftmost side relative to the direction of travel of the vehicle V and continues until the position of the vehicle V indicated in the second boundary information is reached. While boundary comparison is performed only on either the right or left side of the direction of travel of the vehicle V, it may also be performed on both the right and left sides.

[0066] use Figure 2A The driving scenario shown is used to illustrate the comparison of boundaries. Figure 2AIn the illustrated driving scenario, the order of boundaries in the first boundary information is, with boundary B1, located farthest to the right relative to the vehicle V's travel direction, as the reference: solid white line (boundary B1), dashed white line (boundary B2), dashed white line (boundary B3), mobile barrier (center line C), dashed white line (boundary B4), dashed white line (boundary B5), and solid white line (boundary B6). Conversely, the order of boundaries in the second boundary information is, with boundary B1, located farthest from the vehicle V on the right side of its travel direction, as the reference: solid white line (boundary B1), dashed white line (boundary B2), vehicle V, dashed white line (boundary B3), and mobile barrier (center line C).

[0067] In this case, if the boundary type information of the first boundary information and the boundary type information of the second boundary information are compared, on the right side of the vehicle V, the arrangement order of the solid white line, i.e., boundary B1, and the dashed white line, i.e., boundary B2, are consistent. In addition, on the left side of the vehicle V, the arrangement order of the dashed white line, i.e., boundary B3, and the movable roadblock, i.e., center line C, are consistent. Based on this comparison result, lanes whose boundary arrangement order is consistent on the right and left sides of the vehicle V are retrieved. Figure 2A In the illustrated driving scenario, assuming that vehicle V is traveling in lane L2, the order of the arrangement at the right boundary of vehicle V is consistent. Therefore, driving assistance device 19 recognizes that vehicle V is traveling in lane L2. Driving assistance device 19 outputs the recognition that the driving lane is lane L2 to display device 18.

[0068] In addition, the recognition unit 23 has a function of correcting the initially estimated driving lane when the initially estimated driving lane is different from the driving lane identified as a result of the verification. The driving assistance device 19 calculates the correction amount for correcting the driving lane through the function of the recognition unit 23, and uses the calculated correction amount to correct the initially estimated driving lane. Correct the initially estimated driving lane to make it consistent with the driving lane identified as a result of the verification. The correction amount for correcting the driving lane is equal to the distance moved from the initially estimated driving lane to the driving lane identified as a result of the verification along the width direction of the road for the vehicle V to travel. For example, in Figure 2A In the driving scenario shown, the width of one lane is 3.5 m. When the initially estimated lane is lane L4, the calculated correction amount is 3.5×2=7 (m). The corrected driving lane is output to the display device 18 .

[0069] The recognition unit 23 of this embodiment has a function of not checking the first boundary information and the second boundary information on the right side or the left side of the vehicle V where the movable center line is detected when the detection unit 22 detects the movable center line. This prevents erroneous recognition of the driving lane of the vehicle V. Figure 2B Describe the function.

[0070] Figure 2B The driving scene shown is Figure 2A In the driving scene, the movable roadblock is the scene where the center line C moves to the right relative to the driving direction of the vehicle V. Figure 2B In the driving scenario shown, Figure 2A The driving scene shown is the same, with vehicle V driving in lane L2. However, the center line C is not located between lanes L3 and L4, but between lanes L2 and L3. Therefore, the driving direction of lanes L1 to L2 is from Figure 2A The direction of the lanes L3 to L6 is from the bottom to the top. Figure 2A The upper side of the lane faces the lower side. Figure 2A The driving scenarios shown differ in that lane L2 is divided by boundary B2 and center line C, lane L3 is divided by center line C and boundary B3a, and lane L4 is divided by boundary B3a and boundary B4.

[0071] In this case, the first boundary information acquired by the driving assistance device 19 is consistent with Figure 2A Because the position of the movable center line registered in the map information 14 is only a representative position, the position of the movable roadblock moving from the representative position cannot be obtained from the map information 14. In contrast, the second boundary information obtained by the driving assistance device 19 is the same as Figure 2A The driving scene shown is different because the camera device 11 and the distance measuring device 12 can detect the position of the movable roadblock after it moves.

[0072] illustrate Figure 2B First, the driving assistance device 19 obtains the second boundary information in the driving scene shown in FIG. Figure 2B Detection results from the imaging device 11 and the distance measuring device 12 in the detection area X are shown. Based on the image acquired from the imaging device 11, the driving assistance device 19 identifies the white lines marked on the road surface, namely, boundaries B1, B2, and B3a. The white lines are identified as solid lines for boundary B1 and dashed lines for boundaries B2 and B3a. Furthermore, the driving assistance device 19 identifies the center line C on the left side of the vehicle V.

[0073] Next, based on the detection results of the distance measuring device 12 (radar, etc.), the distance from the vehicle V to the center line C and the position of the center line C relative to the vehicle V are detected. In this case, the position information of the center line C includes information that the center line C exists on the left side of the vehicle V. In addition, the driving assistance device 19 determines whether the recognized center line C is a movable center line. Figure 2BIn the driving scene shown, since the center line C is a movable roadblock, it is determined that the center line C is a movable center line. The driving assistance device 19 obtains this information as the second boundary information.

[0074] In addition, the arrangement order of the boundaries is obtained based on the distance from the vehicle V to the center line C and the directions of the boundaries B1 to B3 and the center line C relative to the vehicle V. Figure 2B In the driving scene, since the center line C is located between lanes L2 and L3, the boundary B1 is used as a reference to identify the lanes from Figure 2A The boundaries are arranged in the order of a solid white line (boundary B1), a dotted white line (boundary B2), the vehicle V, a movable barrier (center line C), and a dotted white line (boundary B3) from the right side. The driving assistance device 19 obtains this arrangement order as second boundary information.

[0075] Driving assistance device 19 Figure 2B When the second boundary information is obtained in the driving scene of the vehicle V, the control unit 20 recognizes the driving area Y2 as an area where the vehicle V can travel without contacting obstacles. The driving area Y2 is the area surrounded by the boundary B1 and the center line C in the detection area X. Figure 2A The driving scenarios shown are different. Figure 2B In the driving scenario shown, vehicle V cannot drive in lane L3, so Figure 2B The illustrated drivable area Y2 is narrower than the drivable area Y1 by the amount of lane L3 .

[0076] Next, explain Figure 2B Comparison of boundaries in the driving scenario shown. Figure 2B In the driving scene shown, the arrangement order of the boundaries of the first boundary information is the same as Figure 2A The driving scene shown is the same, with boundary B1 as the reference. The order of the boundaries is: solid white line (boundary B1), dashed white line (boundary B2), dashed white line (boundary B3), movable roadblock (center line C), dashed white line (boundary B4), dashed white line (boundary B5), and solid white line (boundary B6). Conversely, the order of the boundaries in the second boundary information is: solid white line (boundary B1), dashed white line (boundary B2), vehicle V, movable roadblock (center line C), and dashed white line (boundary B3a).

[0077] In this case, a comparison of the boundary type information in the first boundary information and the boundary type information in the second boundary information reveals that on the right side of vehicle V, the order of the solid white line (boundary B1) and the dashed white line (boundary B2) are consistent. In contrast, the order of the boundaries on the left side of vehicle V is inconsistent. Specifically, while the first boundary information shows the boundaries arranged, starting from the right side relative to the direction of travel of vehicle V, in this order: boundary B3 (dashed white line) and center line C (mobile barrier), whereas the second boundary information shows center line C (mobile barrier) and boundary B3a (dashed white line).

[0078] If the lanes with the same arrangement order of the search boundaries are found based on the comparison result on the right side of the vehicle V, then Figure 2A Similarly, in the driving scene shown, lane L2 is identified as the driving lane of vehicle V. In contrast, in the comparison result on the left side of vehicle V, since the arrangement order of the boundaries of the first boundary information is inconsistent with the arrangement order of the boundaries of the second boundary information, the lane with the same arrangement order of the boundaries cannot be retrieved, and the driving lane of vehicle V cannot be correctly identified. If the driving lane of vehicle V cannot be correctly identified, the driving lane displayed on the display device 18 is different from the lane in which vehicle V is actually driving, which will cause discomfort to the occupants. In addition, incorrect recognition of the driving lane will cause the navigation device 16 to generate an incorrect driving path. Therefore, when the driving assistance device 19 detects the movable center line through the detection unit 22, the side of the detected movable center line on the right and left sides of vehicle V (on the left side) is detected. Figure 2B The left side in the driving scene shown in FIG. 1 is not checked against the first boundary information and the second boundary information, but the side opposite to the side where the movable center line is detected (in the driving scene shown in FIG. 1 ) is detected. Figure 2B The first boundary information and the second boundary information are checked (on the right side in the driving scene shown).

[0079] The recognition unit 23 has the following functions: Figure 2A and Figure 2B After the movable center line is detected as shown in the driving scene, if the movable center line is no longer detected, the comparison between the first boundary information and the second boundary information is restarted on the side where the movable center line is no longer detected. Figure 2B In the driving scenario shown, when the movable roadblock on the left side of the vehicle V is no longer detected, the driving assistance device 19 restarts the comparison of the first boundary information and the second boundary information on the left side of the vehicle V.

[0080] Furthermore, the recognition unit 23 has a function of not performing a check between the first boundary information and the second boundary information on the side where the movable center line is detected, if the detection unit 22 determines that the position of the movable center line is within a lane adjacent to the lane where the vehicle V is traveling. Furthermore, the recognition unit 23 has a function of not performing a check between the first boundary information and the second boundary information on the side where the movable center line is detected, if the detection unit 22 determines that the movable center line is a boundary of the lane where the vehicle V is traveling.

[0081] However, if it is determined that the position of the movable center line is not within the adjacent lane and the movable center line is not the boundary of the driving lane of the vehicle V, the first boundary information and the second boundary information may be checked on the side where the movable center line is detected. Figure 2B In the illustrated driving scenario, when the movable roadblock (center line C) is located between lanes L5 and L6, the driving assistance device 19 can collate the first boundary information with the second boundary information on the left side of the vehicle V. This is because if the vehicle V and the movable center line are separated, the impact on the collation of the first boundary information with the second boundary information is not significant.

[0082] The estimation unit 24 has a function of estimating the driving position of the vehicle (i.e., an estimation function). After the driving assistance device 19 identifies the driving lane of the vehicle V through the function of the recognition unit 23, it obtains the driving state information of the vehicle V from the state detection device 13 through the function of the estimation unit 24. Examples of driving state information include vehicle speed information, acceleration information, yaw rate information, and steering angle information. Next, the driving assistance device 19 calculates the movement amount of the vehicle V based on the driving state information, and calculates the predicted position of the vehicle V based on the calculated movement amount. The predicted position of the vehicle V is then checked with the map information 14 and the current position information, and the checked predicted position is used to update the current position. The updated current position information is output to the display device 18.

[0083] (Processing in driver assistance systems)

[0084] Reference Figure 3A and Figure 3B , describing the steps when the driving assistance device 19 processes information. Figure 3A and Figure 3B This is an example of a flowchart showing information processing executed in the driving assistance system 10 of the present embodiment. The processing described below is executed by the CPU 191 , which is a processor of the driving assistance device 19 , at predetermined time intervals.

[0085] First, in step S1, the acquisition unit 21 acquires the current position information of the vehicle V from the position detection device 15. In the following step S2, first boundary information is acquired from the map information 14. In step S3, second boundary information is acquired from the imaging device 11 and the distance measuring device 12. Next, in step S4, the recognition unit 23 uses the first boundary information and / or the second boundary information to estimate the driving lane of the vehicle V.

[0086] In step S5, the detection unit 22 detects a movable center line on the right or left side of the vehicle V based on the first boundary information and / or the second boundary information. In the following step S6, a determination is made as to whether a movable center line is detected on the left side of the vehicle V. If it is determined that a movable center line is not detected on the left side of the vehicle V, the process proceeds to step S7, where the recognition unit 23 compares the order of boundaries between the first boundary information and the second boundary information on the left side of the vehicle V. In contrast, if a movable center line is determined to be detected on the left side of the vehicle V, the process proceeds to step S8. In step S8, the detection unit 22 determines whether the movable center line is not located within the adjacent lane to the left of the vehicle V and is not a boundary on the left side of the vehicle V's travel lane. If it is determined that the movable center line is not located within the adjacent lane to the left of the vehicle V and is not a boundary on the left side of the vehicle V's travel lane, the process proceeds to step S7, where the order of boundaries between the first boundary information and the second boundary information on the left side of the vehicle V is compared. In contrast, when it is determined that the movable center line position is in the adjacent lane on the left side of vehicle V, or the movable center line is the boundary on the left side of the driving lane of vehicle V, the first boundary information and the second boundary information are not checked on the left side of vehicle V, and step S9 is entered.

[0087] In step S9, a determination is made as to whether a movable center line is detected on the right side of the vehicle V. If it is determined that a movable center line is not detected on the right side of the vehicle V, the process proceeds to step S10, where the recognition unit 23 compares the order of the boundaries of the first boundary information and the second boundary information on the right side of the vehicle V. In contrast, if a movable center line is determined to be detected on the right side of the vehicle V, the process proceeds to step S11. In step S11, the detection unit 22 determines whether the position of the movable center line is not within the adjacent lane to the right of the vehicle V and whether the movable center line is not the boundary of the right side of the vehicle V's travel lane. If it is determined that the position of the movable center line is not within the adjacent lane to the right of the vehicle V and the movable center line is not the boundary of the right side of the vehicle V's travel lane, the process proceeds to step S10, where the order of the boundaries of the first boundary information and the second boundary information on the right side of the vehicle V are compared. In contrast, when it is determined that the position of the movable center line is in the adjacent lane on the right side of the vehicle V, or the movable center line is the boundary on the right side of the driving lane of the vehicle V, the first boundary information and the second boundary information are not checked on the right side of the vehicle V, and step S12 is entered.

[0088] In step S12, the recognition unit 23 uses its function to determine whether a lane with the same boundary order exists, assuming the vehicle V's lane is being driven. In step S12, the boundary order only needs to be consistent on either the right or left side of the vehicle V; it does not necessarily need to be consistent on both sides. If it is determined that no lane has the same boundary order, the vehicle V's lane cannot be correctly identified, and driving assistance by the driving assistance device 19 ends. At this point, the display device 18 is used to request manual driving from the driver. In contrast, if it is determined that a lane with the same boundary order exists, the process proceeds to step S13.

[0089] In step S13, the recognition unit 23 calculates a correction amount to bring the lane estimated in step S4 into alignment with the lane identified in step S12. In the following step S14, the lane estimated in step S4 is corrected using the correction amount calculated in step S13. In the following step S15, the corrected lane is output to the display device 18 as the lane of the vehicle V.

[0090] In step S16, the estimation unit 24 acquires driving state information (e.g., vehicle speed, acceleration, and yaw rate) of the vehicle V. In step S17, the amount of movement of the vehicle V is calculated based on the driving state information. In step S18, the predicted position of the vehicle V is calculated based on the calculated amount of movement. In step S19, the predicted position of the vehicle V is checked against the map information 14 and the current position information. In step S20, the current position is updated using the checked predicted position. Then, in step S21, the updated current position information is output to the display device 18.

[0091] (Embodiment of the present invention)

[0092] As described above, according to this embodiment, a lane recognition method is provided for identifying a driving lane of a vehicle V by using a processor to collate first boundary information for a lane boundary obtained from map information 14 with second boundary information for the lane boundary obtained from a detection device of the vehicle V. The processor detects a center line C (i.e., a movable center line) that is movable in the width direction of the road on which the vehicle V is traveling, based on at least one of the first boundary information and the second boundary information. Upon detecting the movable center line, the processor does not collate the first boundary information with the second boundary information on the right or left side of the vehicle V where the movable center line is detected. This prevents erroneous recognition of the driving position of the vehicle V when the vehicle V is traveling on a road where the center line is shifting.

[0093] Furthermore, according to the lane recognition method of this embodiment, after detecting the movable center line, if the processor no longer detects the movable center line, the processor restarts the comparison on the side where the movable center line is no longer detected. This allows the comparison of the first boundary information and the second boundary information to be controlled according to the state of the road on which the vehicle V is traveling.

[0094] Furthermore, according to the lane recognition method of this embodiment, when the processor detects the movable center line based on the second boundary information, it determines whether the position of the movable center line is within an adjacent lane of the driving lane and whether the movable center line is the boundary of the driving lane. If the position of the movable center line is determined to be within the adjacent lane or if the movable center line is determined to be the boundary of the driving lane, the verification is not performed on the side where the movable center line was detected. If the position of the movable center line is determined not to be within the adjacent lane and if the movable center line is determined not to be the boundary of the driving lane, the verification is performed on the side where the movable center line was detected. Thus, when the detected movable center line does not significantly affect the verification of the first boundary information and the second boundary information, the first boundary information and the second boundary information can be verified on both the right and left sides of the vehicle V. As a result, even when traveling on a road where a movable center line exists, erroneous recognition of the driving position of the vehicle V can be suppressed.

[0095] Furthermore, according to the lane recognition method of this embodiment, when the processor detects the movable center line, it performs the comparison on the side opposite to the side where the movable center line was detected. Thus, when the vehicle V is traveling on a road with a movable center line, the first boundary information and the second boundary information are compared on either the right or left side of the vehicle V, further reducing the possibility of misidentification of the vehicle V's traveling position.

[0096] Furthermore, according to the lane recognition method of this embodiment, the first boundary information includes the type of the lane boundary on the road on which the vehicle V is traveling, and the second boundary information includes the type of the lane boundary detected by the detection device. When performing the verification, the processor compares the boundary type included in the first boundary information with the boundary type included in the second boundary information, sequentially from the right or left side relative to the traveling direction of the vehicle V. This allows for more accurate verification of the first boundary information and the second boundary information.

[0097] Furthermore, according to this embodiment, a lane recognition device is provided, comprising: a recognition unit 23 for collating first boundary information for dividing lanes obtained from map information 14 with second boundary information for dividing lanes obtained from a detection device of a vehicle V to thereby identify a driving lane of the vehicle V; and a detection unit 22 for detecting a center line C (i.e., a movable center line) that is movable in the width direction of a road on which the vehicle V is traveling, based on at least one of the first boundary information and the second boundary information. If the movable center line is detected by the detection unit 22, the recognition unit 23 does not collate the first boundary information with the second boundary information on the right or left side of the vehicle V where the movable center line is detected. This prevents erroneous recognition of the driving position of the vehicle V when the vehicle V is traveling on a road where the center line is shifting.

[0098] Explanation of symbols

[0099] 10: Driving assistance systems

[0100] 11: Camera

[0101] 12: Distance measuring device

[0102] 13: Status detection device

[0103] 14: Map information

[0104] 15: Position detection device

[0105] 16: Navigation device

[0106] 17: Vehicle control device

[0107] 171: Vehicle speed control device

[0108] 172: Steering Controls

[0109] 18: Display device

[0110] 19: Driving assistance device (lane recognition device)

[0111] 191: CPU (processor)

[0112] 192: ROM

[0113] 193: RAM

[0114] 20: Control Department

[0115] 21: Get Department

[0116] 22: Inspection Department

[0117] 23: Identification Department

[0118] 24: Presumption Department

[0119] B1, B2, B3, B3a, B4, B5, B6: Boundary

[0120] C: Central Line

[0121] L1, L2, L3, L4, L5, L6: lanes

[0122] X: Detection area

[0123] Y1, Y2: Driving area

[0124] V: Vehicle

Claims

1. A lane recognition method, comprising: using a processor to collate first boundary information of a lane boundary obtained from map information and second boundary information of the lane boundary obtained from a detection device of a vehicle to thereby identify a driving lane of the vehicle, wherein: The processor performs the following processing: When the first boundary information includes information that the center line of the road on which the vehicle is traveling is a center line that can be moved in the width direction of the road on which the vehicle is traveling, that is, a movable center line, the first boundary information and the second boundary information are not checked on the side where the movable center line exists on the right and left sides of the vehicle, and the check is performed on the side opposite to the side where the movable center line exists.

2. A lane recognition method, comprising: using a processor to collate first boundary information of a lane boundary obtained from map information and second boundary information of the lane boundary obtained from a detection device of a vehicle to thereby identify a driving lane of the vehicle, wherein: The processor performs the following processing: When a movable center line that can move in the width direction of the road on which the vehicle is traveling is detected from the second boundary information, the first boundary information and the second boundary information are not checked on the right and left sides of the vehicle on which the movable center line is detected, and the check is performed on the opposite side of the side on which the movable center line is detected.

3. The lane recognition method according to claim 2, wherein: The processor restarts the verification on the side where the movable center line is no longer detected when the movable center line is no longer detected after the movable center line is detected.

4. The lane recognition method according to any one of claims 1 to 3, wherein: The processor performs the following processing: When the movable center line is detected based on the second boundary information, it is determined whether the position of the movable center line is within an adjacent lane of the driving lane and whether the movable center line is the boundary of the driving lane. When it is determined that the position of the movable center line is within the adjacent lane, or when it is determined that the movable center line is the boundary of the driving lane, the check is not performed on the side where the movable center line is detected. When it is determined that the position of the movable center line is not within the adjacent lane and when it is determined that the movable center line is not the boundary of the driving lane, the check is performed on the side where the movable center line is detected.

5. The lane recognition method according to any one of claims 1 to 3, wherein: The first boundary information includes the type of the boundary of the lane on the road on which the vehicle is traveling. The second boundary information includes the type of the boundary of the lane detected by the detection device, When performing the check, the processor sequentially compares the type of the boundary included in the first boundary information and the type of the boundary included in the second boundary information from the right side or the left side with respect to the traveling direction of the vehicle.

6. A lane recognition device comprising: an identification unit that collates first boundary information of a boundary dividing a lane obtained from map information and second boundary information of the boundary dividing the lane obtained from a detection device of the vehicle to thereby identify a driving lane of the vehicle; When the recognition unit includes information in the first boundary information that the center line of the road on which the vehicle is traveling is a center line that can move in the width direction of the road on which the vehicle is traveling, that is, a movable center line, the first boundary information and the second boundary information are not checked on the side where the movable center line exists on the right and left sides of the vehicle, and the check is performed on the side opposite to the side where the movable center line exists.

7. A lane recognition device comprising: an identification unit that collates first boundary information of a boundary dividing a lane obtained from map information and second boundary information of the boundary dividing the lane obtained from a detection device of the vehicle to thereby identify a driving lane of the vehicle; When the recognition unit detects a movable center line that can move in the width direction of the road on which the vehicle is traveling from the second boundary information, the first boundary information and the second boundary information are not checked on the right and left sides of the vehicle on which the movable center line is detected, and the comparison is performed on the opposite side of the side on which the movable center line is detected.

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