| 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 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. Based on the estimated lane width and the position of the detectable one white line 1, the position of the other while line 3 is estimated.SELECTED DRAWING: Figure 4 |
