| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane detection device and a driving support system for detecting a driving lane correctly in real time.SOLUTION: A memory storage 107 stores map data including lane data where a shape of each lane is defined by a straight line, circle, and clothoid curve. A lane detection part 106 sets a current location on each lane assuming a vehicle is traveling on the lane, calculates an acceleration in a direction of a center of curvature of the lane at the set current location assuming the vehicle is traveling on the lane as a theoretical acceleration according to the vehicle speed and the lane shape indicated by the lane data in the map data, and detects the lane where the calculated theoretical acceleration is the closest to the acceleration in the direction of the center of curvature measured by an acceleration sensor 103 as a travelling lane.SELECTED DRAWING: Figure 3 |
