| 摘要 |
PROBLEM TO BE SOLVED: To implement accurate driving assistance even when a lane marker is discontinuous and a width of a traveling lane is not constant.SOLUTION: Provided is a driving assist system 100 including a control unit 10 that implements a lane marker detection feature of detecting a lane marker on the basis of a produced image of the surroundings of a vehicle, an attention point calculation feature of calculating an attention point, a discontinuation point detection feature of detecting a discontinuation point of the lane marker, a lane marker selection feature which if the attention point is closer to an own vehicle than to the discontinuation point, selects a first lane marker closer to the own vehicle than to the discontinuation point, and which if the attention point is farther away from the own vehicle than from the discontinuation point, selects a second lane marker farther away from the own vehicle than from the discontinuation point, a lane recognition feature of recognizing a relative position of the selected lane marker, and a steering control feature of controlling a steering maneuver with a target sideways position, which is designated based on the relative position, as a reference. |
