| 摘要 |
PROBLEM TO BE SOLVED: To allow the position of an undetectable one-sided white line of right and left white lines regulating running lanes to be known to increase opportunities for performing lane keeping control.SOLUTION: A base lane width is estimated by the checking of an average vehicle speed of an own vehicle V with a map (Fig. 3), when one white line 1 of right and left white lines can be detected by a camera S2 and the other white line 3 cannot be detected by the camera. This base lane width is corrected according to vehicle speeds of peripheral vehicles (VF1, VT1, and so on). Based on the final vehicle lane after the correction and the position of the detectable one white line 1, the position of the other while line 3 is estimated.SELECTED DRAWING: Figure 4 |
