The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 14, 2021
Filed:
Oct. 08, 2019
Denso Corporation, Kariya, JP;
Masaya Okada, Nisshin, JP;
Takumi Uematsu, Kariya, JP;
DENSO CORPORATION, Kariya, JP;
Abstract
In an apparatus for recognizing a road shape of a travel route of a first vehicle, a surrounding environment recognizer repeatedly recognizes, as surroundings information, at least shapes of roadside objects or travel histories of second vehicles that are vehicles other than the first vehicle, located around the first vehicle in a travel direction of the first vehicle. A sequence-of-point estimator repeatedly estimates, using the surroundings information, a reference line connecting a sequence of points that represent the road shape of the travel route in the travel direction of the first vehicle. A first lane boundary setter repeatedly sets a first lane boundary that is a boundary of a lane of the first vehicle, located at a first distance from the reference line to a respective one of the left and the right of the first vehicle in a vehicle-widthwise direction of the first vehicle.