| 摘要 |
PROBLEM TO BE SOLVED: To provide a curve detection device for detecting a curve in a front direction of a vehicle stably, before approaching to the curve.SOLUTION: A fuzzy inference determines whether or not, a candidate of a curve start point Cc in a front direction of a vehicle, detected by images 60, 61 obtained by image processing to images including a lane mark imaged by a camera 16, is the curve start point Cc. More particularly, approach distance Di from distance Dp of the curve start point Cc in a past frame to distance Dn of the curve start point Cc in a present frame, is determined, and the approach distance Di and movement distance Dr of a vehicle 12 determined based on time &Dgr;T between both frames and vehicle speed v, are compared. When distance difference |Di-Dr| is large, it is estimated that, probability that detection is correctly performed is low, and when the distance difference |Di-Dr| is small, it is estimated that, probability that detection is correctly performed is high, and then determined.SELECTED DRAWING: Figure 6 |
