Road bifurcation detection method and route selection method for lane centering

摘要

The lane feature data is processed to calculate the feed forward lane curvature at the left lane boundary and the right lane boundary. Future lane widths and neighboring lane widths are calculated based on the left and right lane boundaries. A lane width increase amount is calculated, and a lane branching portion or a lane junction portion is detected based on the difference between the increasing lane widths. A branch or merging portion of the lane is identified or determined. The lane boundary on the side where the lane branching section or the merging section is generated is ignored, and the unilateral lane centering calculation is performed based on the lane boundary which is not ignored. [Selection] Figure 1