Patent attributes
A target-lane relationship recognition apparatus mounted on a vehicle includes a sensor that detects a situation around the vehicle, a memory device in which a map data indicating a boundary position of a lane on a map is stored, and a processing device. The processing device is configured to: (a) acquire, based on the sensor detection result, target information regarding a moving target and a stationary target around the vehicle; (b) acquire, based on the map data and position-orientation of the vehicle, lane geometry information indicating a lane geometry around the vehicle; (c) adjust the lane geometry to generate an adjusted lane geometry satisfying a condition that the moving target is located within a lane and the stationary target is located outside of any lane; and (d) generate target-lane relationship information indicating a positional relationship between the moving target and the adjusted lane geometry.
