| 摘要 |
PROBLEM TO BE SOLVED: To suitably estimate the position of a main lane on a traveling condition, on which the main lane and an auxiliary lane coexist, by suitably recognizing the position relation between the main lane and the auxiliary lane drawn on a road surface. SOLUTION: This lane displacement correcting system has a lane recognizing part 2 for specifying a lane position on the road surface, a lane width recognizing part 5 for calculating at least one lane width type WIDTH[i] on the basis of a recognized lane width W calculated from the lane position recognized in the lane recognizing part 2 and specifying a main lane width WMSTR corresponding to the appearance frequency of the lane width type WIDTH[i], and a lane displacement correcting part 3 for judging the position relation between the main lane and the auxiliary lane on the basis of the recognized lane width W, at least one lane width type WIDTH[i] and the main lane width WMSTR when lanes on both sides are recognized, and correcting lane positions corresponding to the judged result.
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