| 摘要 |
PROBLEM TO BE SOLVED: To suppress adverse effects when erroneously recognizing a travel lane.SOLUTION: A lane boundary deviation suppression device 1 includes: image acquisition means 7, 17 for acquiring a road surface image in front of the own vehicle; edge point extraction means 17 for extracting an edge point from the road surface image; lane boundary detection means 17 for detecting a lane boundary on the basis of the edge point; travel lane estimation means 17 for estimating multiple travel lanes from the edge of the lane boundary; travel lane determination means 21 for determining a travel lane on the basis of a prescribed selection reference from the multiple travel lanes; determination means 21 for determining a deviation of the own vehicle from the travel lane; deviation suppression means 21 for issuing an alarm or performing steering to avoid the deviation when determining that the own vehicle is deviating from the travel lane; and parallel control means 21 for performing steering to drive along the travel lane. The selection reference is to determine a travel lane to be used from travel lanes not corresponding to prescribed exclusion criteria determined in response to an execution state of the deviation suppression means or the parallel control means. |
