Information processing device and information processing method

Abstract

To improve an accuracy of specifying a center line of a traveling traffic lane for a vehicle V at a branch section of a traffic lane or a merging section.SOLUTION: An information processing device 10 includes: a section specifying unit 122 that specifies a branching / merging section where a traffic lane branches or merges for a travel traffic lane in which a vehicle V travels within a predetermined range in a travel direction of the vehicle V in the travel traffic lane; a selection unit 124 that selects specifying means for specifying a center line of a travel traffic lane in the branching / merging section based on a situation of the branching / merging section; and a center line specifying unit 125 that specifies a center line of the travel traffic lane in the branching / merging section using the selected specifying means.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an information processing device and an information processing method. [Background technology]

[0002] Conventionally, in order to control the traveling of a vehicle so that the vehicle travels along the traveling lane, the center line of the traveling lane is specified. For example, Patent Document 1 discloses a device that, when there is a branching part where a branching lane branches off from the traveling lane of the vehicle, detects a dividing line on the opposite side of the traveling lane from the branching part based on an image captured by an imaging device that captures an image in front of the vehicle, and calculates a lateral offset from the dividing line to specify the center line of the traveling lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-520056 Summary of the Invention [Problem to be solved by the invention]

[0004] Because lane markings in branching and merging sections are complex, it is necessary to accurately identify the markings based on an image of the branching section that is clearly captured in the imaging area. However, with conventional methods, depending on the conditions of the branching and merging sections, it is not possible to accurately identify the markings based on the captured image, and therefore it is not possible to accurately identify the center line of the traveling lane.

[0005] The present invention has been made in consideration of these points, and has an object to improve the accuracy of identifying the center line of a vehicle's travel lane at a lane branching or merging section. [Means for solving the problem]

[0006] An information processing device according to a first aspect of the present invention has a section identification unit that identifies a branching and merging section in a driving lane in which a vehicle is traveling, within a predetermined range in the direction of travel of the vehicle, where a lane branches off or merges with the driving lane, a selection unit that selects an identification means for identifying a center line of the driving lane in the branching and merging section based on a situation of the branching and merging section, and a center line identification unit that identifies the center line of the driving lane in the branching and merging section using the selected identification means.

[0007] The selection unit may select one of a plurality of identification means based on a state of the junction / merging section when the vehicle travels through the junction / merging section.

[0008] The information processing device has a position identification unit that identifies a position of the vehicle, and the selection unit selects one of a plurality of identification means including a first identification means that identifies the center line using the position of the vehicle identified by the position identification unit, and the first identification means may be selected when the accuracy of identification of the vehicle's position by the position identification unit when the vehicle travels through the junction section is high.

[0009] The selection unit is provided in the vehicle and selects one of a plurality of identification means including a second identification means that identifies the center line using an image captured by an imaging device that images the area in front of the vehicle, and may select the second identification means when the brightness of the branching / merging section is high when the vehicle is traveling through the branching / merging section.

[0010] The selection unit may select one of the plurality of identification means based on a direction in which sunlight is incident on the vehicle when the vehicle travels through the junction / merging section.

[0011] The information processing device has a detection unit that detects a preceding vehicle traveling in front of the vehicle, and the selection unit selects one of a plurality of identification means including a third identification means that identifies the center line based on the detection result of the preceding vehicle by the detection unit, and the third identification means may be selected when the detection result of the preceding vehicle by the detection unit when the section identification unit identifies the branching / merging section satisfies a predetermined condition.

[0012] The information processing device has a position identification unit that identifies a position of the vehicle based on received radio waves, and the selection unit selects one of a plurality of identification means, including a first identification means that acquires lane position information indicating the position of a lane in the branching and merging section that corresponds to the position of the vehicle identified by the position identification unit by referring to map information, and identifies the center line based on the acquired lane position information, and a second identification means that is provided on the vehicle and identifies a dividing line on a side to which a branching lane or a merging lane is not connected and a lane width of the driving lane based on an image captured by an imaging device that captures an image of the front of the vehicle, and identifies the center line based on the dividing line and the lane width, and may select the second identification means if the branching and merging section is within a predetermined range from the position of a tunnel, and select the first identification means if the branching and merging section is outside the predetermined range from the position of a tunnel.

[0013] The information processing device has a position identification unit that identifies a position of the vehicle based on received radio waves, and a detection unit that detects a preceding vehicle traveling in front of the vehicle, and the selection unit selects one of a plurality of identification means, including a first identification means that acquires lane position information indicating the position of a lane in the branching and merging section that corresponds to the position of the vehicle identified by the position identification unit by referring to map information, and identifies the center line based on the acquired lane position information, and a third identification means that identifies the vehicle width direction position of the preceding vehicle based on a detection result of the preceding vehicle by the detection unit, and identifies the center line based on the identified vehicle width direction position, and may select the third identification means when the branching and merging section is within a predetermined range from the position of a tunnel, and select the first identification means when the branching and merging section is outside the predetermined range from the position of a tunnel.

[0014] The information processing device has a detection unit that detects a preceding vehicle traveling in front of the vehicle, and the selection unit selects one of a plurality of identification means, including a second identification means that is provided on the vehicle and that identifies a dividing line on a side where a branching lane or a merging lane is not connected and a lane width of the driving lane based on an image captured by an imaging device that captures an image of the area in front of the vehicle, and that identifies the center line based on the dividing line and the lane width, and a third identification means that identifies a position of the preceding vehicle in a vehicle width direction based on a detection result of the preceding vehicle by the detection unit and identifies the center line based on the identified position in the vehicle width direction, and may select the third identification means when sunlight is directly incident on the imaging device when the vehicle travels through the branching and merging section, and select the second identification means when sunlight is not directly incident on the imaging device when the vehicle travels through the branching and merging section.

[0015] An information processing method according to a second aspect of the present invention includes the steps of: executing a computer-implemented step of identifying a branching / merging section in a driving lane in which a vehicle is traveling, within a predetermined range in a direction of travel of the vehicle, where a lane branches off or merges with the driving lane; selecting a means for identifying a center line of the driving lane in the branching / merging section based on a situation of the branching / merging section; and identifying a center line of the driving lane in the branching / merging section using the selected means. Effect of the Invention

[0016] According to the present invention, it is possible to improve the accuracy of identifying the center line of a lane in which a vehicle is traveling at a lane branching or merging section. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram for explaining an overview of an information processing device. [Diagram 2] FIG. 1 is a diagram showing a configuration of a vehicle in which an information processing device is provided. [Diagram 3] 10 is a flowchart showing an example of a process flow in which an information processing device selects a center line specifying means in a junction section. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] [Overview of information processing device 10] 1 is a diagram for explaining an overview of an information processing device 10. The information processing device 10 is a computer that is mounted on a vehicle V, such as a bus or a truck, and identifies the center line of the lane in which the vehicle V is traveling.

[0019] The information processing device 10 identifies a junction / merging section that exists within a predetermined range in the travel lane in which the vehicle V is traveling from the position of the vehicle V in the traveling direction of the vehicle V. The junction / merging section is, for example, a travel section in a travel lane where a junction lane branches off from the travel lane of the vehicle V as shown in Fig. 1(a) or a travel section in a travel lane where a merging lane merges into the travel lane of the vehicle V as shown in Fig. 1(b).

[0020] The branching / merging section is defined as a section from the point where the lane width starts to widen when the driving lane branches into the branching lane to the point where the branching is completed and a structure such as a guardrail or a median strip that clearly separates the driving lane from the branching lane is installed on the branching lane side. The branching / merging section may include a section consisting of only the driving lanes before and after the section. The branching / merging section is defined as a section from the point where the structure separating the merging lane and the driving lane disappears when the driving lane merges with the merging lane to the point where the merging lane disappears. The branching / merging section may include a section consisting of only the driving lanes before and after the above section, in the same way as in the case of branching, in the case of merging.

[0021] The information processing device 10 can identify the center line of the driving lane by using a plurality of center line identification means that identify a center line that passes through the center of the driving lane in the branching / merging section. The information processing device 10 identifies the superiority or inferiority of the plurality of center line identification means based on the state of the branching / merging section when the vehicle V travels through the identified branching / merging section, and selects one of the plurality of center line identification means based on the identified superiority or inferiority. In the branching / merging section, the width of the driving lane appears to be expanded. Therefore, if the center of the entire lane including the branching lane or the merging lane and the driving lane is taken, the center line is recognized at a position shifted toward the branching lane or the merging lane side with respect to the actual driving lane. The information processing device 10 can identify the center line with higher accuracy by selecting a center line identification means according to the state of the branching / merging section.

[0022] Then, the information processing device 10 uses the selected center line identifying means to identify the center line of the driving lane in the branching / merging section. In this way, the information processing device 10 can improve the identification accuracy of the center line of the driving lane of the vehicle V in the branching or merging section of the lanes by using a center line identifying means suitable for the situation of the branching / merging section among the multiple center line identifying means.

[0023] [Configuration of information processing device 10] Next, a description will be given of the configuration of the information processing device 10. Fig. 2 is a diagram showing the configuration of a vehicle V in which the information processing device 10 is provided. As shown in Fig. 2, the vehicle V has an imaging device 1, a driving control device 2, and the information processing device 10.

[0024] The imaging device 1 is provided, for example, on the front side of the vehicle V, and outputs an image generated by capturing an image of the area in front of the vehicle V to the information processing device 10. The imaging device 1 identifies the position of the vehicle V at predetermined time intervals (for example, every few milliseconds to every few tens of milliseconds). The driving control device 2 controls the driving of the vehicle V. For example, the driving control device 2 controls the driving of the vehicle V so that the vehicle V drives along the center line of the driving lane identified by the information processing device 10. Specifically, the driving control device 2 controls the steering and speed of the vehicle V so that the center of the vehicle V drives within a predetermined range with respect to the identified center line.

[0025] As shown in FIG. 2, the information processing device 10 includes a storage unit 11 and a control unit 12. The storage unit 11 is, for example, a read only memory (ROM) or a random access memory (RAM). The storage unit 11 stores various programs for causing the control unit 12 to function. The storage unit 11 stores programs for causing the control unit 12 to function as a position identification unit 121, a section identification unit 122, a detection unit 123, a selection unit 124, and a center line identification unit 125.

[0026] The information processing device 10 also stores map data including road information for each position. The road information includes information indicating dividing lines corresponding to one or more lanes of a road, including branch lanes and merging lanes. The road information may also include lane width information indicating the lane width of each lane of the road.

[0027] The control unit 12 is a computational resource including a processor such as a CPU (Central Processing Unit) (not shown). The control unit 12 executes programs stored in the storage unit 11 to function as a position identification unit 121, a section identification unit 122, a detection unit 123, a selection unit 124, and a center line identification unit 125. The control unit 12 may be composed of one or more processors, and may further include one or more electronic circuits.

[0028] The position identifying unit 121 identifies the position of the vehicle V. For example, the position identifying unit 121 identifies the position of the vehicle V at predetermined time intervals based on radio waves received from a Global Navigation Satellite System (GNSS) satellite (not shown).

[0029] The section identification unit 122 identifies a junction / merging section that exists within a predetermined range from the position of the vehicle V in the traveling lane in which the vehicle V is traveling, in the traveling direction of the vehicle V. For example, the section identification unit 122 first identifies the traveling direction of the vehicle V based on the position of the vehicle V identified by the position identification unit 121 at predetermined time intervals. Then, the section identification unit 122 refers to the map information stored in the memory unit 11, and identifies a junction / merging section that exists within a predetermined range from the position of the vehicle V in the traveling direction of the vehicle V, and corresponds to the traveling lane of the vehicle V.

[0030] Here, the predetermined range may be a fixed value previously set for the vehicle V. For example, the predetermined range is set within a range of 200 m in the traveling direction of the vehicle V. The predetermined range may also be dynamically set according to the vehicle speed of the vehicle V. For example, the predetermined range may be set within a range of 300 m in the traveling direction of the vehicle V when the vehicle speed is 80 km / h or higher, and within a range of 150 m in the traveling direction of the vehicle V when the vehicle speed is lower than 80 km / h. The predetermined range may also be set according to the type of road on which the vehicle V travels. The type of road is specified based on the position information of the vehicle V specified by the position specifying unit 121 and the map information stored in the storage unit 11. For example, when the vehicle V travels on a highway, the predetermined range may be set to a wider range than when the vehicle V travels on a general road with a speed limit of 40 km / h. Note that the values ​​of the range, vehicle speed, etc. shown here are merely examples and are not limited thereto.

[0031] The detection unit 123 detects a preceding vehicle traveling ahead of the vehicle V. For example, the detection unit 123 first analyzes an image of the front of the vehicle V captured by the imaging device 1 to identify a dividing line corresponding to the driving lane in which the vehicle V is traveling. The detection unit 123 then identifies the driving lane based on the identified dividing line. The detection unit 123 analyzes an image of the front of the vehicle V captured by the imaging device 1 to detect a preceding vehicle that is in front of the vehicle V and traveling in the identified driving lane.

[0032] The selection unit 124 selects one of a plurality of identification means for identifying a center line passing through the center of the travel lanes in the junction / merging section based on the state of the junction / merging section identified by the section identification unit 122 when the vehicle V travels through the junction / merging section. The selection unit 124 identifies the superiority or inferiority of the plurality of identification means based on the state of the junction / merging section identified by the section identification unit 122 when the vehicle V travels through the junction / merging section, and selects one of the plurality of identification means based on the identified superiority or inferiority. Note that the identification means here can also be rephrased as a method of identifying the center line. In this embodiment, the plurality of identification means include a first identification means, a second identification means, and a third identification means.

[0033] The first identification means is an identification means that identifies the center line of the travel lane based on the position information of the vehicle V. The first identification means identifies the center line using the position of the vehicle V identified by the position identification unit 121, without using the captured image captured by the imaging device 1 and the detection result of the preceding vehicle by the detection unit 123. Specifically, the first identification means refers to the map information stored in the storage unit 11 to acquire lane position information indicating the position of the lane in the branching and merging section corresponding to the position of the vehicle identified by the position identification unit 121, and identifies the center line based on the acquired lane position information. The lane position information is, for example, information indicating the positions of two dividing lines that define the lane, and the center line of the lane can be identified based on the positions of the two dividing lines.

[0034] The second identification means is an identification means that identifies the center line using the captured image captured by the imaging device 1. The second identification means identifies the center line using the captured image captured by the imaging device 1, without using the position of the vehicle V identified by the position identification unit 121 and the detection result of the preceding vehicle by the detection unit 123. Specifically, the second identification means identifies the dividing line of the driving lane on the side where the branch lane or merging lane does not connect, based on the captured image captured by the imaging device 1. The second identification means identifies the center line based on the dividing line and the lane width of the driving lane. The lane width of the driving lane is assumed to be previously identified, for example, based on the captured image captured by the imaging device 1 when traveling in the driving lane before the branching and merging section. The second identification means identifies the center line of the driving lane based on the lane width of the driving lane previously identified in a section different from the branching and merging section and the position of the dividing line on the side where the branching and merging lane does not connect. The lane width of the driving lane may be identified according to the type of driving lane identified from the captured image captured by the imaging device 1.

[0035] The third identification means is an identification means that identifies the center line using the detection result of the preceding vehicle by the detection unit 123. The third identification means identifies the center line based on the detection result of the preceding vehicle detected before the vehicle V enters the vicinity of the branching and merging section. The third identification means is a center line identification means that identifies the center line using the detection result of the preceding vehicle by the detection unit 123, without using the position of the vehicle V identified by the position identification unit 121 and the captured image captured by the imaging device 1. Specifically, the third identification means identifies the position of the preceding vehicle in the vehicle width direction based on the detection result of the preceding vehicle by the detection unit 123, and identifies the center line based on the identified position in the vehicle width direction.

[0036] For example, the selection unit 124 identifies the accuracy with which the position identifying unit 121 identifies the position of the vehicle V when the vehicle V travels through the junction section, and identifies the superiority or inferiority of multiple center line identifying means based on the identified identification accuracy. Around tunnels, the reception strength of radio waves transmitted by satellites is likely to be low, so the accuracy with which the position identifying unit 121 identifies the position of the vehicle V decreases. Therefore, the selection unit 124 refers to the map information stored in the storage unit 11 and identifies the position of a tunnel on the road on which the vehicle V travels and which exists in the traveling direction of the vehicle V. The selection unit 124 determines whether the accuracy with which the position of the vehicle V when the vehicle V travels through the junction section is identified is high or not based on whether the junction section identified by the section identifying unit 122 is within a predetermined range from the position of the tunnel.

[0037] When the junction section is outside a predetermined range from the tunnel, the selection unit 124 determines that the accuracy of identifying the position of the vehicle V is high, identifies the first identification means as an identification means that is relatively superior to identifying the center line in the junction section, and selects the first identification means. Also, when the junction section is within a predetermined range from the tunnel, the selection unit 124 determines that the accuracy of identifying the position of the vehicle V is low, identifies the second identification means or the third identification means as an identification means that is relatively superior, and selects the second identification means or the third identification means.

[0038] Furthermore, when the selection unit 124 determines that the position of the vehicle V is poorly identified, it identifies the superiority of the second identification means and the third identification means. In this case, since the third identification means is an identification means that identifies the center line using the detection result of the preceding vehicle by the detection unit 123, the center line cannot be identified unless the preceding vehicle is detected. For this reason, the selection unit 124 identifies the superiority of the second identification means and the third identification means based on the detection result of the preceding vehicle by the detection unit 123 when the section identification unit 122 identifies the branching / merging section. When the detection unit 123 does not detect a preceding vehicle when the section identification unit 122 identifies the branching / merging section, the selection unit 124 identifies the second identification means as the relatively superior identification means and selects the second identification means.

[0039] In addition, when the section identification unit 122 identifies a junction / merging section and the detection unit 123 detects a preceding vehicle, the selection unit 124 determines, based on the brightness of the junction / merging section when the vehicle V is traveling through the junction / merging section, the superiority of a second identification means that identifies the center line using a captured image and a third identification means that does not identify the center line using a captured image.

[0040] Specifically, the selection unit 124 determines the superiority of the second identification means and the third identification means based on the direction in which sunlight is incident on the vehicle V when the vehicle V travels through the junction section. For example, the selection unit 124 determines the direction in which sunlight is incident on the vehicle V based on the traveling direction of the vehicle V when the vehicle V travels through the junction section and the position of the sun corresponding to the date and time when the vehicle V travels through the junction section.

[0041] Then, the selection unit 124 determines whether sunlight is directly incident on the imaging device 1 based on the direction in which sunlight is incident on the vehicle V and the position of the imaging device 1 on the vehicle V. If the selection unit 124 determines that sunlight is directly incident on the imaging device 1, it identifies the third identification means as the relatively superior identification means and selects the third identification means. If the selection unit 124 determines that sunlight is not directly incident on the imaging device 1, it identifies the second identification means as the relatively superior identification means and selects the second identification means.

[0042] The selection unit 124 has determined whether sunlight is directly incident on the imaging device 1 based on the traveling direction of the vehicle V and the position of the sun corresponding to the date and time when the vehicle V travels through the junction and merge section, but this is not limited to the above. For example, an illuminance sensor may be provided in the information processing device 10, and the presence or absence of sunlight may be determined based on the illuminance around the vehicle V measured by the illuminance sensor. The selection unit 124 may then determine whether sunlight is directly incident on the imaging device 1 based on the traveling direction of the vehicle V, the position of the sun corresponding to the date and time when the vehicle V travels through the junction and merge section, and the presence or absence of sunlight.

[0043] The center line identifying unit 125 identifies the center line of the driving lane in which the vehicle V is traveling. The center line identifying unit 125 identifies the center line of the driving lane in a section other than the branching and merging section based on an image of the front of the vehicle V captured by the imaging device 1. For example, the center line identifying unit 125 analyzes the image of the front of the vehicle V captured by the imaging device 1 to identify two dividing lines corresponding to the driving lane in which the vehicle V is traveling, and identifies the midpoint between the two dividing lines as the center line of the driving lane. The center line identifying unit 125 also identifies the lane width of the driving lane by calculating the distance between the two dividing lines. The identified lane width of the driving lane is used when calculating the center line in the branching and merging section using the second identification means.

[0044] The center line identifying unit 125 identifies the center line of the driving lane in the junction / merging section using the identifying means selected by the selection unit 124. When the first identifying means is selected, the center line identifying unit 125 refers to the map information stored in the memory unit 11, acquires lane position information indicating the position of the lane in the junction / merging section corresponding to the vehicle position identified by the position identifying unit 121, and identifies the center line based on the acquired lane position information.

[0045] When the second identification means is selected, the center line identification unit 125 identifies the center line based on the latest lane width identified in a section other than the branching and merging section and the dividing line on the side where the branching or merging lanes do not connect, identified based on the image of the front of the vehicle V captured by the imaging device 1.

[0046] When the third identification means is selected, center line identification unit 125 identifies the center position in the vehicle width direction of the preceding vehicle, and identifies the identified center position in the vehicle width direction as the center line of the driving lane.

[0047] The center line identification unit 125 outputs center line information indicating the identified center line to the driving control device 2. This allows the driving control device 2 to control the driving of the vehicle V so that the vehicle V drives along the center line indicated by the center line information.

[0048] In addition, when the third identification means is used to identify the center position of the preceding vehicle in the vehicle width direction, the preceding vehicle may change lanes, making it impossible to correctly identify the center line. For this reason, when the third identification means is selected, the selection unit 124 may identify the amount of displacement per unit time in the vehicle width direction of the preceding vehicle, and select the first identification means or the second identification means as the identification means for identifying the center line of the branching / merging section when the identified amount of displacement per unit time becomes equal to or greater than a predetermined amount. In this way, the information processing device 10 can prevent the center line from being unable to be correctly identified when the preceding vehicle changes lanes.

[0049] [Processing flow in information processing device 10] Next, a process flow of the information processing device 10 selecting a specifying means in a junction / merging section will be described. Fig. 3 is a flowchart showing an example of a process flow of the information processing device 10 selecting a specifying means in a junction / merging section. Note that this flowchart is executed when the section specifying unit 122 specifies a junction / merging section.

[0050] First, the selection unit 124 determines whether the position identification unit 121 has a high degree of accuracy in identifying the position of the vehicle V (S1). When the selection unit 124 determines that the position identification unit 121 has a high degree of accuracy (YES in S1), the selection unit 124 moves the process to S2 and selects the first identification means as an identification means for identifying the center line of the branching / merging section.

[0051] If the selection unit 124 determines that the position of the vehicle V is poorly identified (NO in S1), it determines whether or not the detection unit 123 has detected a preceding vehicle traveling in the lane in which the vehicle V is traveling (S3). If the selection unit 124 determines that a preceding vehicle has been detected (YES in S3), it proceeds to S5. If the selection unit 124 determines that a preceding vehicle has not been detected (NO in S3), it proceeds to S4 and selects the second identification means as an identification means for identifying the center line of the branching / merging section.

[0052] In S5, the selection unit 124 determines whether sunlight is directly incident on the imaging device 1. If the selection unit 124 determines that sunlight is directly incident on the imaging device 1 (YES in S5), the process proceeds to S6, where the selection unit 124 selects the third identification means as an identification means for identifying the center line of the branching and merging section. If the selection unit 124 determines that sunlight is not directly incident on the imaging device 1 (NO in S5), the selection unit 124 transfers the process to S4, where the selection unit 124 selects the second identification means as an identification means for identifying the center line of the branching and merging section.

[0053] [Advantages of this embodiment] As described above, the information processing device 10 according to the present embodiment identifies a branching / merging section, which is a driving section in a driving lane in which the vehicle V travels and exists within a predetermined range in the traveling direction of the vehicle V from the position of the vehicle V, where a branching lane branches off from the driving lane of the vehicle V or a merging lane merges into the driving lane of the vehicle V, and selects one of a plurality of center line identification means for identifying a center line passing through the center of the driving lane in the branching / merging section based on the state of the branching / merging section when the vehicle V travels through the branching / merging section. Then, the information processing device 10 identifies the center line of the driving lane in the branching / merging section using the selected center line identification means. In this way, the information processing device 10 can improve the accuracy of identifying the center line of the driving lane of the vehicle V in the branching or merging section of the lane.

[0054] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination combines the effect of the original embodiment. [Explanation of symbols]

[0055] 1. Imaging device 2. Driving control device 10. Information processing device 11 Storage section 12 Control section 121 Location identification part 122 Section Identification Unit 123 Detection unit 124 Selection section 125 Central Line Specification Section

Claims

1. a section identification unit that identifies a branching / merging section where a lane branches or merges with respect to a travel lane within a predetermined range in a traveling direction of the vehicle in a travel lane on which the vehicle is traveling; a selection unit that selects an identification means for identifying a center line of the driving lane in the junction section based on a state of the junction section; a center line identifying unit that identifies a center line of the driving lane in the junction section by using the selected identifying means; An information processing device having the above configuration.

2. the selection unit selects one of a plurality of identification means based on a state of the junction / merging section when the vehicle travels through the junction / merging section. The information processing device according to claim 1 .

3. a position identifying unit that identifies a position of the vehicle; the selection unit selects one of a plurality of identification means including a first identification means that identifies the center line using the position of the vehicle identified by the position identification unit, and selects the first identification means when the position identification unit has a high accuracy of identifying the position of the vehicle when the vehicle travels through the junction / merging section. The information processing device according to claim 1 .

4. the selection unit is provided in the vehicle and selects one of a plurality of identification means including a second identification means that identifies the center line using an image captured by an imaging device that images a front of the vehicle, and selects the second identification means when the brightness of the junction / merging section is high when the vehicle is traveling through the junction / merging section. The information processing device according to claim 2 .

5. the selection unit selects one of the plurality of identification means based on a direction in which sunlight is incident on the vehicle when the vehicle travels through the junction section. The information processing device according to claim 4.

6. a detection unit for detecting a preceding vehicle traveling in front of the vehicle; the selection unit selects one of a plurality of identification means including a third identification means for identifying the center line based on a detection result of the preceding vehicle by the detection unit, and selects the third identification means when a detection result of the preceding vehicle by the detection unit when the section identification unit identifies the junction / merging section satisfies a predetermined condition. The information processing device according to claim 2 .

7. a position identifying unit that identifies the position of the vehicle based on the received radio waves; The selection unit selects one of a plurality of identification means including a first identification means that acquires lane position information indicating a lane position in the junction / merging section corresponding to the position of the vehicle identified by the position identification unit by referring to map information, and identifies the center line based on the acquired lane position information, and a second identification means that is provided on the vehicle and that identifies a dividing line on a side to which a junction lane or a merging lane does not connect and a lane width of the driving lane based on an image captured by an imaging device that images the area ahead of the vehicle, and identifies the center line based on the dividing line and the lane width, and selects the second identification means when the junction / merging section is within a predetermined range from the position of a tunnel, and selects the first identification means when the junction / merging section is outside the predetermined range from the position of a tunnel. The information processing device according to claim 1 .

8. a position identification unit that identifies a position of the vehicle based on received radio waves; A detection unit that detects a preceding vehicle traveling in front of the vehicle; having The selection unit selects one of a plurality of identification means including a first identification means that acquires lane position information indicating the position of a lane in the junction / merging section corresponding to the position of the vehicle identified by the position identification unit by referring to map information, and identifies the center line based on the acquired lane position information, and a third identification means that identifies the position of the preceding vehicle in a vehicle width direction based on a detection result of the preceding vehicle by the detection unit, and identifies the center line based on the identified position in the vehicle width direction, and selects the third identification means when the junction / merging section is within a predetermined range from the position of a tunnel, and selects the first identification means when the junction / merging section is outside the predetermined range from the position of a tunnel. The information processing device according to claim 1 .

9. a detection unit for detecting a preceding vehicle traveling in front of the vehicle; The selection unit is provided on the vehicle and selects one of a plurality of identification means, including a second identification means that identifies a dividing line on a side where a branching lane or a merging lane is not connected and a lane width of the driving lane based on an image captured by an imaging device that images the area ahead of the vehicle, and identifies the center line based on the dividing line and the lane width, and a third identification means that identifies a position of the preceding vehicle in a vehicle width direction based on a detection result of the preceding vehicle by the detection unit, and identifies the center line based on the identified position in the vehicle width direction, and selects the third identification means when sunlight is directly incident on the imaging device when the vehicle travels through the branching and merging section, and selects the second identification means when sunlight is not directly incident on the imaging device when the vehicle travels through the branching and merging section. The information processing device according to claim 1 .

10. The computer executes Identifying a junction / merging section in which a lane branches or merges with respect to a travel lane on which a vehicle is traveling, within a predetermined range in a traveling direction of the vehicle; selecting a means for identifying a center line of the travel lane in the junction / merging section based on a state of the junction / merging section; identifying a center line of the travel lane in the junction section using the selected identification means; An information processing method comprising the steps of:

Images