FIELD: controlling.
SUBSTANCE: invention relates to a method for driving assistance and an apparatus for driving assistance. A method for driving assistance, wherein a first group of boundary points is detected, including the boundary points forming the boundary line of the road lane, using a sensor installed in the vehicle, the coordinate system of the first group of boundary points is converted into the same coordinate system as the coordinate system of the map data.The first group of points is therein obtained by eliminating closely located boundary points of any one from the second group of boundary points, including the boundary points forming the boundary line of the road lane in the map data, and the first group of boundary points, and a comparison is made between the other from the first group of boundary points and the second group of boundary points and said first group of points. The apparatus for driving assistance comprises a sensor installed in the vehicle, a memory apparatus configured to store map data, and a controller.
EFFECT: discrepancy between the group of points obtained by the sensor and the group of points in the map data is reduced.
9 cl, 10 dwg
