Abstract: A method and a system for generating a virtual lane are provided, and the method for generating the virtual lane according to an embodiment of the present disclosure comprises: determining a lane recognition limit situation in which a lane in front of an ego vehicle is not recognized; determining whether conditions for entering a virtual lane generation mode are satisfied in the lane recognition limit situation; if the conditions for entering the virtual lane generation mode are satisfied, entering the virtual lane generation mode; processing previous lane information, information of the ego vehicle, and information of a front vehicle; generating the virtual lane based on the processed information; and controlling the ego vehicle based on the generated virtual lane.

Abstract: A method for selecting a lane line based on reliability of lane information according to an embodiment of the present disclosure includes: recognizing left and right lane line information of a lane in which an ego vehicle is driving; determining a fault in line information of the lane; if both the left and right lane line information are valid, determining whether a lane width after a predetermined time is less than a predetermined threshold value; if the lane width after the predetermined time is less than the threshold value, determining that both lane lines are valid, and if the lane width after the predetermined time is greater than or equal to the threshold value, determining that either the left lane line or the right lane line is valid; and selecting the lane line determined to be valid as a lane line for controlling the ego vehicle.

Abstract: A method and a system for generating a virtual lane are provided, and the method for generating the virtual lane according to an embodiment of the present disclosure comprises: determining a lane recognition limit situation in which a lane in front of an ego vehicle is not recognized; determining whether conditions for entering a virtual lane generation mode are satisfied in the lane recognition limit situation; if the conditions for entering the virtual lane generation mode are satisfied, entering the virtual lane generation mode; processing previous lane information, information of the ego vehicle, and information of a front vehicle; generating the virtual lane based on the processed information; and controlling the ego vehicle based on the generated virtual lane.