| 摘要 |
PURPOSE:To precisely judge a breakaway even in the case that the white line of the side edge of a traveling lane is difficult to detect. CONSTITUTION:A first and a second breakaway judging points are set at both the sides of ones own vehicle by a point setting means 12 so that the first and the second breakaway judging points are positioned at both the sides of the extension line of the center of one's own vehicle distant ahead by prescribed distance from one 7, own vehicle. On the other hand, the side edge of the traveling lane is detected by a side edge detecting means 11. A breakaway judging means 13 judges the vehicle to have broken away from the traveling lane for the reason that oen of the breakaway judging points, at least, has broken away from the side edge of the traveling lane or a judging line inside the side edge.
|
