Lane determining device, method, and program
Devices, methods, and programs obtain vehicle position information indicating a current position of a vehicle, and based on the vehicle position information, obtain road information including positions and forms of lane markings around the current position of the vehicle. Based on the road information, the devices, systems, and methods determine whether a branch point exists on the road in a forward direction of the vehicle. If a branch point exists, the devices, methods, and programs obtain image information of an area before the branch point, and determine whether no lane marking is imaged or is partly imaged in the image information of the area before the branch point. If there is no lane marking or only a partial lane marking imaged in the area before the branch point, the devices, methods, and programs obtain image information of the branch point including a captured image of a lane marking, and determine a lane in which the vehicle is traveling after the branch point based on an imaging order of the lane marking, a form of the lane marking, a position of the lane marking in the image information of the branch point, and the road information.
1. A lane determining device, comprising:
a memory that stores road information including positions and forms of a first lane marking including a zebra zone and a deceleration zone and a second lane marking including solid lines or dashed lines existing on both sides of a lane;
an imaging device that captures an image of the first lane marking and the second lane marking; and
a controller configured to:
obtain vehicle position information indicating a current position of a vehicle;
based on the vehicle position information, access the stored road information including the positions and the forms of the lane markings around the current position of the vehicle;
based on the accessed road information and without using the captured image, determine whether a branch point exists on the road in a forward direction of the vehicle;
based on the accessed road information and without using the captured image, detects that the second lane marking does not exist at all before the branch point; wherein,
if it is determined that the branch point does not exist on the road in the forward direction of the vehicle or it is detected that the second lane marking exists at all before the branch point, the controller:
obtains image information of the captured image of the second lane marking; and
determines a lane in which the vehicle is traveling based on the second lane marking in the image information and the road information, and
if it is determined that the branch point exists on the road in the forward direction of the vehicle and it is detected that second lane marking does not exist at all before the branch point, the controller:
obtains image information of the branch point including the captured image of the first lane marking; and
determines a lane in which the vehicle is traveling after the branch point based on an imaging order of the first lane marking, a form of the first lane marking, a position of the first lane marking in the image information of the branch point, and the road information.
2. The lane determining device according to claim 1 , wherein the branch point is a narrow-angle branch point.
3. The lane determining device according to claim 1 , wherein the controller specifies a position of the first lane marking in the image information of the branch point as on a right side of the vehicle or on a left side of the vehicle.
4. The lane determining device according to claim 1 , wherein the controller:
obtains image information of an area before the branch point including a captured image of a second lane marking;
recognizes the image of the second lane marking included in the image information of the area before the branch point;
compares the recognized image of the second lane marking with the road information; and
based on a result of the comparison, determines a lane in which the vehicle is traveling prior to the branch point.
5. The lane determining device according to claim 4 , wherein the controller defines a lane adjacent to the lane in which the vehicle is traveling prior to the branch point as a candidate for the lane in which the vehicle is traveling after the branch point.
6. A navigation apparatus comprising:
the lane determining device according to claim 1 ; and
a map database storing map information including the road information;
wherein the controller outputs guidance information based on the map information and the lane in which the vehicle is traveling after the branch point.
7. A lane determining method comprising:
causing an imaging device to capture an image of a first lane marking and a second lane marking;
obtaining vehicle position information indicating a current position of a vehicle;
based on the vehicle position information, accessing stored road information including positions and forms of the first including a zebra zone and a deceleration zone and a second lane marking including solid lines or dashed lines existing on both sides of a lane around the current position of the vehicle;
based on the accessed road information and without using the captured image, determining whether a branch point exists on the road in a forward direction of the vehicle;
based on the accessed road information and without using the captured image, detecting that the second lane marking does not exist at all before the branch point;
if it is determined that the branch point does not exist on the road in the forward direction of the vehicle or if it is detected that the second lane marking exists at all before the branch point:
obtaining image information of the captured image of the second lane marking; and
determining a lane in which the vehicle is traveling based on the second lane marking in the image information and the road information; and
if it is determined that the branch point exists on the road in the forward direction of the vehicle and it is detected that the second lane marking does not exist at all before the branch point:
obtaining image information of the branch point including the captured image of the first lane marking; and
determining a lane in which the vehicle is traveling after the branch point based on an imaging order of the first lane marking, a form of the first lane marking, a position of the first lane marking in the image information of the branch point, and the road information.
8. The lane determining method according to claim 7 , wherein the branch point is a narrow-angle branch point.
9. The lane determining method according to claim 7 , further comprising specifying a position of the first lane marking in the image information of the branch point as on a right side of the vehicle or on a left side of the vehicle.
10. The lane determining method according to claim 7 , further comprising:
obtaining image information of an area before the branch point including a captured image of a second lane marking;
recognizing the image of the second lane marking included in the image information of the area before the branch point;
comparing the recognized image of the second lane marking with the road information; and
based on a result of the comparison, determining a lane in which the vehicle is traveling prior to the branch point.
11. The lane determining method according to claim 10 , further comprising defining a lane adjacent to the lane in which the vehicle is traveling prior to the branch point as a candidate for the lane in which the vehicle is traveling after the branch point.
12. A navigation method comprising:
the lane determining method according to claim 7 ;
storing map information including the road information; and
outputting guidance information based on the map information and the lane in which the vehicle is traveling after the branch point.
13. A non-transitory computer-readable storage medium storing a computer- executable program usable to determine a lane, the program comprising:
instructions for causing an imaging device to capture an image of a first lane marking and a second lane marking;
instructions for obtaining vehicle position information indicating a current position of a vehicle;
instructions for accessing, based on the vehicle position information, stored road information including positions and forms of the first lane marking including a zebra zone and a deceleration zone and a second lane marking including solid lines or dashed lines existing on both sides of a lane around the current position of the vehicle;
instructions for determining, based on the accessed road information and without using the captured image, whether a branch point exists on the road in a forward direction of the vehicle;
instructions for detecting, based on the accessed road information and without using the captured image, that the second lane marking does not exist at all before the branch point;
instructions for, if it is determined that the branch point does not exist on the road in the forward direction of the vehicle or if it is detected that the second lane marking exists at all before the branch point:
obtaining image information of the captured image of the second lane marking; and
determining a lane in which the vehicle is traveling based on the second lane marking in the image information and the road information; and
instructions for, if it is determined that the branch point exists on the road in the forward direction of the vehicle and it is detected that the second lane marking does not exist at all before the branch point:
obtaining image information of the branch point including the captured image of the lane marking; and
determining a lane in which the vehicle is traveling after the branch point based on an imaging order of the lane marking, a form of the lane marking, a position of the lane marking in the image information of the branch point, and the road information.