The discriminating gear and method of discrimination of the traveling lane of traveling lane

摘要

In the present invention, a traveling lane on which a vehicle is traveling is estimated by a traveling lane estimator based on map information, current position information of the vehicle, and white line information on a white line that divides a road on which the vehicle travels. The traveling lane estimator estimates the traveling lane based on a traveling lane probability of each of lanes, which is obtained based on a line type of the white line, a traveling lane probability of each of the lanes, which is obtained based on whether or not a lane adjacent to the traveling lane is present, and a traveling lane probability of each of the lanes, which is obtained based on a lane on which the vehicle traveled when the traveling lane was estimated previously.