| 摘要 |
<p>PROBLEM TO BE SOLVED: To prevent frequent actuation of deviation alarm and deviation prevention control even when one side lane of a travel road surface is covered with snow, only an opposite side lane is recognized, and a lane deviation determination threshold is set to the opposite side lane.SOLUTION: A control unit 5 sets a left lane deviation determination threshold SLl with an inside edge of remaining snow S as a standard when it recognizes a left lane Ll but it cannot recognize a right lane Lr due to the remaining snow S on the basis of an image of a front part of an own vehicle 1 captured by a stereo camera 3. As a result, even when a road surface width becomes narrower due to the remaining snow S and a driver makes the own vehicle 1 yaw to the left lane Ll side, deviation alarm and deviation prevention control is not actuated frequently, so that troublesomeness is reduced.</p> |
