JP2018151822A - Electronic device, driving lane detection program and driving lane detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic device capable of rightly detecting a driving lane of a vehicle even if the number of lanes on a road is changed.SOLUTION: A driving lane detection function 200 includes image input means 210, lane mark detection means 220, driving lane change judging means 230, current location detection means 240, map data recording means 250, lane change information acquisition means 260 and driving lane detection means 270. Based on a vehicle location that is detected by the current location detection means 240, the lane change information acquisition means 260 acquires lane change information of a road where vehicle is driven and notifies the driving lane detection means 270 of the lane change information. The lane change information includes information about the number of lanes on the road and the number of increased/decreased lanes. Based on a judgement result of the driving lane change judging means 230 and the reported lane change information, the driving lane detection means 270 detects a driving lane of the vehicle.SELECTED DRAWING: Figure 3

Description

  The present invention relates to travel lane detection, and more particularly to detection of a lane in which the vehicle travels.

  In the driving assist function or the automatic driving technique, it is necessary to accurately detect the lane (lane) in which the vehicle is traveling. For example, Patent Document 1 discloses an in-vehicle device that estimates which lane a host vehicle is traveling on a branch road. In the traveling lane recognition device of Patent Document 2, a marker attached to a lane is detected by a marker sensor, a traveling lane position is detected based on the detection result, and a white line using a camera is used until the next appearing marker. The change of the driving lane is detected by the recognition means. The driving lane recognition device of Patent Document 3 recognizes the left and right lane boundary lines by means of a lane boundary line recognition means using a camera, and the left end, right end, or other combinations depending on the combination of the left and right boundary lines (solid line, broken line) The lane position is determined only when the vehicle is in the leftmost or rightmost lane using the lane number information of the map data. After the lane position is determined, a change in the travel lane is detected to detect the travel lane.

Japanese Patent No. 5901358 JP 2003-44978 A JP 2008-276642 A

  The lane detection method of Patent Document 2 detects the position of a traveling lane by detecting a marker attached to each lane. However, when the number of lanes increases or decreases, the increase or decrease in the number of lanes cannot be detected. The correct driving lane may not be recognized. For example, as shown in FIG. 12, markers 1-1, 1-2, 1-3, and 1-4 are provided in lanes 1, 2, 3, and 4, respectively. At time t1, since the own vehicle M passes the marker 1-3, it is correctly recognized that the traveling lane of the own vehicle M is “3”. However, if the number of lanes is decreased from 4 to 3 at the position Q and markers 2-1, 2-2, and 2-3 are provided ahead of them, the traveling lane of the vehicle M is 3 at time t 2. The travel lane is recognized as 2 only when the vehicle M passes the marker 2-2 at time t3. That is, even if the number of lanes changes, there is a problem that a correct traveling lane cannot be recognized until the vehicle M passes the next marker.

  Further, in the method of detecting a traveling lane by a combination of lane boundary types (solid line or broken line) as in Patent Document 3, when the number of lanes increases or decreases, the traveling is correctly performed only when the traveling lane is at the left end or the right end. The lane cannot be recognized, otherwise it is undefined. For example, as shown in FIG. 12, when the own vehicle M is traveling on lane 3 that is neither the left end nor the right end at time t1, and then the number of lanes is decreased from 4 to 3 at position Q, at time t2, Since the travel lane is not the right end or left end lane, the travel lane of the host vehicle M is indefinite. That is, since the boundary on both sides is a broken line, it becomes impossible to recognize which lane is running. In this case, there is a problem that a correct traveling lane cannot be recognized unless the lane is changed to the leftmost or rightmost lane. In the example shown in the figure, by changing the lane to the leftmost lane at time t3, it is recognized that the leftmost lane is a traveling lane from the combination of the left boundary line being a solid line and the right boundary line being a broken line.

  The present invention solves such a conventional problem, and an electronic device, a travel lane detection program, and a travel lane detection method that can correctly detect the travel lane of the host vehicle even when the number of lanes on the road changes. The purpose is to provide.

  An electronic device according to the present invention has a function for detecting a traveling lane, and is based on an own vehicle position and acquires acquisition means for acquiring link data including lane change information related to the number of lanes and increase / decrease in lanes. Detecting means for detecting a traveling lane of the own vehicle based on lane change information included in the link data.

  Preferably, the electronic device further includes a determination unit that determines whether or not the vehicle has changed lanes, and the detection unit detects a traveling lane of the vehicle based on a determination result of the determination unit and the lane change information. . Preferably, the acquisition unit compares the lane change information of the link data acquired last time with the lane change information of the link data acquired this time, and when the lane change information has changed, the lane change information is sent to the detection unit. Notice. Preferably, the lane change information includes an increase / decrease number on the left side of the lane and an increase / decrease number on the right side of the lane. Preferably, the detecting means detects a traveling lane of the own vehicle based on the lane change information when the determining means determines that the own vehicle does not change lanes. Preferably, the acquisition unit compares the lane change information of the link data acquired last time with the lane change information of the link data acquired this time, and when the lane change information has changed, the lane change information is sent to the detection unit. Notice. Preferably, the electronic device further includes storage means for storing map data, and the acquisition means acquires link data from the storage means.

  A traveling lane detection program according to the present invention is executed in an electronic device including a control unit that controls a traveling lane detection function, and includes a step of acquiring a current location of the host vehicle, and an acquired host vehicle position. And acquiring link data including lane change information regarding the number of lanes and the increase or decrease of lanes, and detecting a travel lane of the vehicle based on the lane change information included in the acquired link data.

  Preferably, the travel lane detection program further includes a step of determining whether or not the vehicle has changed lanes, and the detecting step includes the travel lane of the vehicle based on the determination result of the determination step and the lane change information. Is detected.

  The travel lane detection method according to the present invention is in an electronic device having a travel lane detection function, and includes a step of acquiring the current location of the host vehicle, and the number of lanes and the number of lanes based on the acquired host vehicle position. It has the step which acquires the link data containing the lane change information regarding increase / decrease, and the step which detects the traveling lane of the own vehicle based on the lane change information included in the acquired link data.

  According to the present invention, by providing the link data with lane change information related to the number of lanes and the increase / decrease of the lanes, the lane change information of the link data is referred to when the link data is acquired based on the vehicle position. Even if the number increases or decreases, the traveling lane of the vehicle can be accurately detected.

It is a block diagram which shows the structure of the vehicle-mounted apparatus which concerns on the Example of this invention. It is a figure which shows the example which acquires information from another delivery site. It is a figure which shows the structure of the traveling lane detection apparatus in the vehicle-mounted apparatus which concerns on the Example of this invention. It is an operation | movement flow of the driving lane detection process which concerns on the Example of this invention. It is a figure which shows the example of storage of the judgment result of the travel lane change judgment means based on the Example of this invention. It is a figure which shows the example of storage of the lane change information based on the Example of this invention. It is a flow explaining operation | movement of the lane change information acquisition means based on the Example of this invention. It is a figure explaining the specific example of the traveling lane detection which concerns on the Example of this invention. FIG. 9A shows an example of lane information when there is a change in lane change information, and FIG. 9B shows an example of lane information when there is no change in lane change information. It is a figure showing an example of the detection result of the travel lane detection means which concerns on the Example of this invention. It is an operation | movement flow of the traveling lane detection means which concerns on the Example of this invention. It is a figure explaining the subject of the conventional travel lane detection. It is a figure explaining the subject of the conventional travel lane detection.

  Next, embodiments of the present invention will be described in detail with reference to the drawings. An electronic device according to an embodiment of the present invention is an in-vehicle device such as a navigation device that is fixedly mounted on a moving body such as an automobile, or a portable computer device that can be carried around, or a tablet computer device. Can do. The electronic device of the present invention has a navigation function for guiding a route to a destination or displaying a road around the vehicle position. In one preferable aspect, the navigation function includes a travel lane detection function for detecting a lane (lane) in which the host vehicle travels. The electronic apparatus may further include other functions such as a function of reproducing audio / video data, a function of receiving television / radio broadcasts, and a function of executing application software.

  FIG. 1 is a block diagram illustrating a configuration of an in-vehicle device according to an embodiment of the present invention. The in-vehicle device 10 includes an input unit 100, a position information calculation unit 110, a navigation unit 120, a display unit 130, an audio output unit 140, a communication unit 150, a storage unit 160, and a control unit 170. However, the configuration of the in-vehicle device 10 disclosed here is an example, and other configurations may be provided.

  The input unit 100 receives an instruction from the user through an input key device, a voice input recognition device, a touch panel, and the like, and provides this to the control unit 170. The position information calculation unit 110 calculates the current location of the vehicle based on a GPS signal transmitted from a GPS satellite and an output from a relative direction sensor such as a gyro sensor.

  The navigation unit 120 searches for a route from the current position to the destination calculated by the position information calculation unit 110, displays the searched route on the display unit 130, and outputs audio from the audio output unit 140. The navigation unit 120 further includes a travel lane detection function for detecting the travel lane of the host vehicle, as will be described later. Information detected by the travel lane detection function is used for route guidance and driving assistance by the navigation unit 120. The display unit 130 includes a display device such as a liquid crystal display or an organic EL, and displays a map image generated by the navigation unit 120, for example. The audio output unit 140 outputs the audio generated by the navigation unit 120, for example.

  The communication unit 150 enables data transmission / reception with various external devices. For example, as shown in FIG. 2, the communication unit 150 accesses the position information distribution site 152 via the network NW, acquires the vehicle position information from there, or accesses the map data distribution site 154, Necessary map data can be acquired from, or the road traffic information distribution site 156 can be accessed from which detailed information regarding road traffic information can be acquired. The vehicle position information obtained from the position information distribution site 152 can be used in place of the vehicle position information calculated by the position information calculation unit 110.

  The storage unit 160 can store application software and programs executed by the control unit 170, map data required by the navigation unit 120, and the like. The map data may include node data regarding intersections, link data regarding roads, and information necessary for the operation of the navigation unit 120.

  In a preferred embodiment, the control unit 170 includes a microcontroller including a ROM, a RAM, and the like, and the ROM or the RAM can store various programs for controlling the operation of each unit of the in-vehicle device 10. In a preferred embodiment, the control unit 170 executes a program for controlling operations of the navigation unit 120 and a travel lane detection function described later.

  FIG. 3 is a diagram illustrating a configuration of a traveling lane detection function according to the present embodiment. The traveling lane detection function 200 is preferably included in the navigation unit 120 or operates in cooperation with the navigation unit 120. Further, when the in-vehicle device has a driving assist function, the traveling lane detection function 200 can operate in cooperation with such a driving assist function. The operation of the traveling lane detection function 200 is controlled by a program executed by the control unit 170.

  The traveling lane detection function 200 of the present embodiment includes an image input means 210, a lane mark detection means 220, a traveling lane change determination means 230, a current location detection means 240, a map data recording means 250, and lane change information, as shown in FIG. The acquisition unit 260 and the traveling lane detection unit 270 are included.

  The image input unit 210 inputs, for example, imaging data from an imaging camera that images a road including the front, rear, or side of the host vehicle, and provides the input imaging data to the lane mark detection unit 220. The lane mark detection unit 220 detects lane marks (for example, a solid line or a broken white line) that are left and right division lines of the travel lane based on the road image from the image input unit 210, and the detection result is the travel lane change determination unit 230. To provide. The travel lane change determination unit 230 determines whether the travel lane has been changed from the left and right lane mark positions detected by the lane mark detection unit 220. For example, the current location detection unit 240 detects the current location from the calculation result of the position information calculation unit 110 shown in FIG. The map data recording unit 250 records road map data, road lane number change information, and the like, and may be included in, for example, the storage unit 160 shown in FIG. The lane change information acquisition unit 260 acquires change information on the number of lanes of the road that is running from the map data recording unit 250 based on the current location detected by the current location detection unit 240. The travel lane detection unit 270 determines the travel lane position using the lane change information from the travel lane change determination unit 230 and the road lane number change information from the lane change information acquisition unit 260.

  FIG. 4 shows an operation flow of the travel lane detection function 200 of this embodiment. In the description here, the lane number indicating the lane position is assumed to be lane 1, lane 2, lane 3,... From the left side to the right side as shown in FIG.

  First, a road image around the own vehicle from the image input unit 210 is input to the lane mark detection unit 220 (S1). The road image may be either a road image behind or ahead of the own vehicle, and includes at least a lane mark of a lane in which the own vehicle is traveling.

  Next, the lane mark detection means 220 detects the left and right lane marks that are the lane markings on which the vehicle travels from the input road image (S2). As a lane mark detection method, for example, an input road image is subjected to image processing, and a lane mark such as a white line (solid line or broken line) is detected from the luminance of the image.

  The travel lane change determination unit 230 determines whether the vehicle has changed the travel lane using the left and right lane mark positions detected by the lane mark detection unit 220 (S3). For example, the traveling lane change determination unit 230 determines whether or not the vehicle has crossed the detected lane mark, or whether or not the combination of the left and right lane marks has been changed (for example, the left solid line and the right It is determined whether or not the vehicle has changed the traveling lane by determining that the broken line combination is changed to a combination of the left broken line and the right solid line). Furthermore, as other information, the steering angle of the steering wheel, the blinker information, etc. can be used in combination. The traveling lane change determining unit 230 sets the determination result in, for example, a variable laneChange shown in FIG. 5 and stores it in a register or the like. For example, laneChange is set to “0” when there is no lane change, “−1” is set when the traveling lane is changed to the left lane, and “1” is set when the lane is changed to the right lane. In this embodiment, the left end of the lane is used as a reference, a change to the left is negative, and a change to the right is positive. However, when the right end is used as a reference, the positive and negative may be reversed.

  Next, the current location of the host vehicle is acquired by the current location detection unit 240 (S4), and the lane change information acquisition unit 260 acquires lane change information of the road (link) on which the host vehicle travels based on the location of the host vehicle (S5). ). As described above, the road map data used in the navigation unit 120 includes link data related to roads and node data related to intersections. The link data includes the coordinates of the start and end points of the link, information on connected nodes, road types such as national roads, prefectural roads, and highways, and further includes lane change information as attribute information. The lane change information includes the number of lanes for the same road (link), the increase / decrease number on the left side of the road, and the increase / decrease number on the right side of the road. For example, in the example of FIG. 6, the number of lanes is “3”, the increase in the number of lanes on the left is “1” (in the case of a decrease, a negative value), and the change in the number of lanes on the right is “0”. . That is, if the leftmost lane of the road increases, a positive value is stored in the left increase / decrease number. If it decreases, a negative value is stored in the left increase / decrease number, and the rightmost lane of the road increases. In this case, a positive value is stored in the right increase / decrease number, and in a decrease case, a negative value is stored in the right increase / decrease number. Next, the travel lane detection unit 270 calculates a travel lane in which the host vehicle is traveling based on the determination result of the travel lane change determination unit and the lane change information (S6). The processing from steps S1 to S6 is periodically repeated by the control unit 170.

  FIG. 7 shows a detailed operation flow of the lane change information acquisition unit 260. The lane change information acquisition unit 260 identifies a road that is running based on the detected vehicle position, and acquires lane change information included in the link data of the identified road (S10). The lane change information is acquired when the traveling lane detection function shown in FIG. 4 is executed. Next, the lane change information acquisition unit 260 compares the lane change information acquired last time with the lane change information acquired this time, and determines whether or not the lane change information has changed (S12). The lane change information acquired last time is acquired by the lane change information acquisition means 260 when the process shown in FIG. 4 was executed last time. The lane change information acquired this time is the process shown in FIG. Is acquired by the lane change information acquisition means 260 at the time. For example, it is determined whether the number of lanes has changed between the previous time and the current time, or whether the left increase / decrease number or the right increase / decrease number is a value other than “0”. When it is determined that the lane change information has changed, the lane change information acquisition unit 260 notifies the travel lane detection unit 270 of the currently acquired lane change information as “lane information” (S14), and changes to lane change information. If it is determined that there is no change, “lane information” indicating no change is notified to the traveling lane detection means 270 (S16). FIG. 9A shows an example of lane information when the lane change information changes, and FIG. 9B shows an example of lane information when the lane change information does not change.

  Next, a method for generating lane change information will be described. As described above, the lane change information is added as attribute information of link data. The lane change information may be added to all links included in the road map data, or a specific link, for example, a lane information and a link having a plurality of lanes, or a highway or a national road with many branches and merges. It may be added to a link having a road type such as.

  FIG. 8 shows an example of a road on which the number of lanes on the main line increases or decreases. Here, the links L1, L2, and L3 are main lines, the link L4 joins the link L1 at the point Q1, and becomes the link L2, and at the point Q2, the link L5 branches from the link L2 to become the link L3. These links L1, L2, L3, L4, and L5 each include lane change information. “V” represents the current location of the vehicle.

  For example, when the host vehicle moves from V1 to V2, the lane change information acquisition unit 260 compares the lane change information of the link L1 with the lane change information of the link L2. The lane change information of the link L1 is the lane number “3”, the left increase / decrease number “0”, and the right increase / decrease number “0”. The lane change information of the link L2 is the lane number “4” and the left increase / decrease number “1”. Since the right increase / decrease number is “0” and the number of lanes of the link L1 and the number of lanes of the link L2 do not match, it is determined that the lane change information has changed. In this case, the lane change information acquisition unit 260 notifies the traveling lane detection unit 270 of the lane change information acquired from the link L2 by the own vehicle at the timing of V2 as “lane information”. As shown in FIG. 9A, the lane information includes the same variable as the lane change information. When the lane change information has changed, the lane change information acquisition unit 260 sets the numLanes “4”. ”, IncDecLeft“ 1 ”, and IncDecRight“ 0 ”are notified to the traveling lane detection means 270 (the lane change information and the lane information are the same).

  If the lane detection process (FIG. 4) is executed at the timing when the host vehicle moves from V2 to V21, the lane change information acquisition unit 260 acquires the lane change information of the link L2, but this time The lane change information is the same as the previous lane change information acquired from the link L2 by the vehicle at the timing of V2. Therefore, the lane change information acquisition unit 260 determines that there is no change in the lane change information. In this case, as shown in FIG. 9B, numLanes “4”, IncDecLeft “0”, and IncDecRight “0”. ”Is notified to the traveling lane detecting means 270. However, when there is no change in the lane change information, information indicating that the lane change information has not changed may be notified.

Hereinafter, specific generation of lane information based on the lane change information will be described.
(1) When there is no change in road When the lane change information of the corresponding link data changes, the acquired lane change information is notified as lane information. When there is no change in the lane change information, the lane change information notifies the lane information with no change. For example, when the own vehicle moves from V2 to V7 or V21, the own vehicle moves from V4 to V7.
(2) When merging Notify the next lane information.
(2-1) When merging to the left of the main line Number of lanes = Number of lanes in the lane change information of the main link after merging Left increase / decrease number = 0
Number of right increase / decrease = Number of lanes in lane change information of main link after merging-Number of lanes in lane change information of link in merging lane (2-2) When merging to the right side of main line Number of lanes = Main link after merging Number of lane changes in lane change information Left increase / decrease number = Number of lanes in lane change information for main link after merge-Number of lanes in lane change information for link in merge lane Right increase / decrease = 0
For example, when the host vehicle moves from V3 to V4, the link L4 merges with the main line from the left side. Therefore, as the lane information, the lane number “4”, the left increase / decrease number “0”, the right increase / decrease number 3 (= 4 -1) is notified.
(3) When branching Notify the next lane information.
(3-1) When branching from the left side of the main line Number of lanes = Number of lanes of lane change information of link of branch lane Left increase / decrease number = 0
Number of right increase / decrease = Number of lanes in the lane change information of the link of the branch lane-Number of lanes in the lane change information of the main link before branching (3-2) When branching from the right side of the main line Number of lanes = Link lane of the branch lane Number of lanes for change information Left increase / decrease = Number of lanes for lane change information for links in branch lanes-Number of lanes for lane change information for main links before branch Right increase / decrease = 0
For example, when the host vehicle moves from V4 or V2 to V6, the link L5 branches off from the left side of the main line. Therefore, as the lane information, the lane number “1”, the left increase / decrease number “0”, the right increase / decrease number “−” 3 "(= 1-4).

  The lane information generated in this way is stored in the variable laneInfo shown in FIG. 9 and notified to the traveling lane detecting means 270. That is, the number of lanes is stored in numLanes, the left increase / decrease number is stored in incDecLeft, and the right increase / decrease number is stored in incDecRight. When there is no change in the lane change information, the number of lanes is stored in numLanes, and “0” is stored in incDecLeft and incDecRight.

  The traveling lane detecting means 270 calculates the traveling lane of the own vehicle based on the determination result of the traveling lane change determining means in step S3 and the lane change information in step S5, and the calculated result is stored in the variable vehicle shown in FIG. Step S6). The variable vehicle is composed of numLanes for storing the number of lanes and lanePos for storing the traveling lane number. For example, the calculation result shown in FIG. 10 indicates that the host vehicle is traveling on the second lane from the left of three lane roads.

  Next, an operation flow of the traveling lane detection means 270 is shown in FIG. First, the number of lanes (laneInfo.numLanes) included in the lane information notified from the lane change information acquisition unit 260 is stored in the variable vehicle.numLanes in FIG. 10 (S61). laneInfo.numLanes is the number of lanes in which the vehicle is traveling, and is reflected in the number of lanes in FIG.

  Next, the variable laneChange storing the judgment of the running lane change judging means 230 is added to the variable vehicle.lanePos indicating the running lane number (S62). The laneChange is a result of whether or not the vehicle has changed the lane to the right or left, and this is reflected in the traveling lane number in FIG.

  Next, the left increase / decrease number laneInfo.IncDecLeft included in the lane information notified from the lane change information acquisition unit 260 is added to vehicle.lanePos (S63). In this embodiment, since the leftmost lane is used as a reference (lane 1), the left increase / decrease number laneInfo.IncDecLeft is added here. If the rightmost lane is the reference lane, incDecRight is added. As a result, changes such as branching and merging and increase / decrease in the number of lanes are reflected in the traveling lane number of FIG. According to the flow of FIG. 11, for example, when traveling as V2 → V21 → V5 (see FIG. 8), the movement from V21 to V5 is straight ahead and the lane is not changed, but the boundary Q2 is not changed. Lane passing information changes when passing. For this reason, the reflection based on the lane change information is performed by the process of S63, but since the lane change is not performed, the reflection process of S62 does not substantially change the detection of the traveling lane. That is, when the vehicle passes straight through the changing point of the lane change information, the traveling lane is specified based on the lane change information.

  Next, a specific detection result of the travel lane detection unit 270 will be described with reference to FIG. For example, if the vehicle travels in the following order: V3 (travel lane number 1 (lane number 1)) → V4 → V7 → V21 → V5, according to the variable vehicle shown in FIG. ), Lane number 2 (lane number 4) for V7, lane number 3 (lane number 4) for V21, and lane number 2 (lane number 3) for V5.

  Further, when the host vehicle travels V1 (travel lane number 2 (lane number 3)) → V2 → V7 → V41 → V6, the variable vehicle shown in FIG. 10 includes travel lane number 3 (lane number 4) when V2. ), V7 represents traveling lane number 2 (lane number 4), V41 represents traveling lane number 1 (lane number 4), and V6 represents traveling lane number 1 (lane number 1). In the above calculation of the travel lane, it is assumed that the correct travel lane number is stored in the variable vehicle in FIG. 10 when the vehicle is traveling at V3 or V1.

  As described above, according to the present embodiment, the link data is provided with the lane change information including the change in the number of lanes, and when there is a change in the number of lanes on the road, this can be detected. Even if the increase or decrease occurs, the traveling lane of the vehicle can be detected correctly. In addition, in the conventional method of determining the traveling lane position by detecting the lane mark, when the number of lanes increases or decreases in the middle of the lane mark, the traveling lane position is detected until the next lane mark is detected. However, if this embodiment is applied, the correct traveling lane can be recognized when the number of lanes increases or decreases without detecting the next lane mark. Furthermore, when the road is a four-lane road and the center two lanes are separated by a broken line, the conventional method determines whether the vehicle is driving in lane 2 or lane 3. However, in the lane detection method of this embodiment, the traveling lane position can be accurately recognized even when there are four or more lanes. Further, in the present embodiment, since the lane change information is provided in advance in the link data, the number of lanes and the traveling lane position can be determined even when the lane mark type (solid line, broken line, etc.) cannot be identified.

  In the above embodiment, when the lane detection process shown in FIG. 4 is executed, the lane change information acquisition unit 260 acquires the lane change information, and the lane information according to the presence or absence of the change in the lane change information is obtained as the traveling lane detection unit 270. However, this is merely an example, and the present invention is not necessarily limited to this. For example, the lane change information acquisition unit 260 sequentially acquires link data on which the host vehicle travels from the map data recording unit 250 based on the vehicle position from the current location detection unit 240, and the lane change information of the link data acquired sequentially is obtained. Only when it has changed, the changed lane change information may be notified to the traveling lane detecting means 270.

  The link data including the lane change information may be stored in the storage unit 160 of the in-vehicle device 10 or may be downloaded from the map data distribution site 154 as shown in FIG. In this case, the map data distribution site 154 may sequentially distribute road maps including the vicinity of the current position of the own vehicle in response to a request from the own vehicle.

  The preferred embodiment of the present invention has been described in detail above. However, the present invention is not limited to the specific embodiment, and various modifications and variations are possible within the scope of the gist of the invention described in the claims. It can be changed.

210: Image input means 220: Lane mark detection means 230: Travel lane change determination means 240: Current location detection means 250: Map data recording means 260: Lane change information acquisition means 270: Travel lane detection means NW: Networks L1, L2, L3 , L4, L5: Link Q, Q1, Q2: Lane number increase / decrease position V: Current position of own vehicle

Claims (11)

An electronic device having a function of detecting a traveling lane,
An acquisition means for acquiring link data including lane change information related to the number of lanes and increase / decrease in lanes based on the vehicle position;
Detecting means for detecting the traveling lane of the vehicle based on the lane change information included in the acquired link data;
Including electronic devices. The electronic device further
Including determination means for determining whether the vehicle has changed lanes,
The electronic device according to claim 1, wherein the detection unit detects a traveling lane of the host vehicle based on a determination result of the determination unit and the lane change information. The acquisition unit compares the lane change information of the link data acquired last time with the lane change information of the link data acquired this time, and notifies the detection unit of the lane change information when the lane change information is changed. The electronic device according to claim 1 or 2. The electronic device according to claim 1, wherein the lane change information includes an increase / decrease number on the left side of the lane and an increase / decrease number on the right side of the lane. 5. The electronic device according to claim 2, wherein the detection unit detects a traveling lane of the vehicle based on the lane change information when the determination unit determines that the vehicle does not change lanes. 6. The acquisition unit compares the lane change information of the link data acquired last time with the lane change information of the link data acquired this time, and notifies the detection unit of the lane change information when the lane change information is changed. The electronic device according to claim 1 or 2. Electronic devices
Including storage means for storing map data;
The electronic device according to claim 1, wherein the acquisition unit acquires link data from the storage unit. A travel lane detection program that is executed in an electronic device having a control means for controlling a travel lane detection function,
Obtaining the current location of the vehicle;
Acquiring link data including lane change information regarding the number of lanes and the increase or decrease of lanes based on the acquired vehicle position;
Detecting a traveling lane of the vehicle based on lane change information included in the acquired link data;
A traveling lane detection program. The driving lane detection program
Including determining whether the vehicle has changed lanes,
The travel lane detection program according to claim 8, wherein the detecting step detects a travel lane of the host vehicle based on a determination result of the determination step and the lane change information. A traveling lane detection method in an electronic device having a traveling lane detection function,
Obtaining the current location of the vehicle;
Acquiring link data including lane change information regarding the number of lanes and the increase or decrease of lanes based on the acquired vehicle position;
Detecting a traveling lane of the vehicle based on lane change information included in the acquired link data;
A driving lane detection method comprising: The driving lane detection method is further
Including determining whether the vehicle has changed lanes,
The travel lane detection method according to claim 10, wherein the detecting step detects a travel lane of the host vehicle based on a determination result of the determining step and the lane change information.

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