Road branch detection method and route selection method for lane centering

摘要

Problem to be solved: to provide a road branch detection method and a route selection method for lane alignment.The lane feature data is processed to calculate the feedforward Lane curvature of the left lane boundary and the right lane boundary.Based on the left and right lane boundaries, future lane widths and near lane widths are calculated.The lane width increase amount is calculated, and based on the difference between the increased lane widths, the lane branching portion or Lane junction portion is detected.The branch or confluence of the lane is specified or determined.The lane boundary on the side where the lane branching part or the merging part is generated is neglected and the lane center center matching calculation is carried out based on the lane boundary which is not neglected.Diagram