| 摘要 |
The present invention realizes a safe automated driving system or driving assistance system by providing rear lane marker location data about a subject vehicle for which estimation error has been reduced by correcting, on the basis of detected lane markers near the host vehicle, an estimation error for rear lane markers of the host vehicle as estimated from a detected lane marker shape in front of the host vehicle and a running trajectory of the host vehicle. The present invention is characterized in that: a lane in which a mobile object/obstacle in the periphery of the subject vehicle travels is determined from the location of lane markers in the rear of the host vehicle acquired by a lane marker estimation value correcting means, and the location of the mobile object/obstacle in the periphery of the subject vehicle acquired by a vehicle periphery mobile object recognizing means; information about the location and travel lane of the mobile object/obstacle in the periphery of the subject vehicle is provided; and if, when the host vehicle changes lanes, the mobile object/obstacle in the host vehicle periphery is present in the lane to which the host vehicle changes, then the possibility of collision with the mobile object/obstacle is determined, and notice is given about whether or not there is a possibility for collision due to the lane change, or execution of the lane change is determined. |
