| 摘要 |
PROBLEM TO BE SOLVED: To suitably carry out lane travel support of a vehicle without significantly depending on accuracy of an imaging means and without depending on a road curvature. SOLUTION: State quantity including a lateral position of the vehicle is estimated in accordance with detection result of a travel lane detection means and steering state and travel state of the vehicle based on a vehicle movement model and a road model, and lane travel support is carried out in accordance with the result of comparison with a target state quantity. In particular, the quantity of state is estimated by a filter value of a yaw rate detected by a yaw rate detection means and a filter value of a yaw angle detected by a yaw angle detection means from an image without depending on the road curvature. COPYRIGHT: (C)2006,JPO&NCIPI |
