| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane marker reliability determination device which can accurately determine the reliability of a detected lane marker.SOLUTION: A lane marker reliability determination device includes: a lane marker detection unit 71 for detecting a lane marker marking the lane where an own vehicle is traveling; a lane marker lateral deviation calculation unit 72 for calculating a lane marker lateral deviation which is a lateral deviation between the lane marker and the vehicle; an inertia lateral deviation calculation unit 75 for calculating an inertia lateral deviation according to the current position of the vehicle, using inertial navigation on the basis of vehicle speed and vehicle turning state, and road data 74a of the road where the vehicle is traveling; and a reliability determination unit 76 for determining the reliability of the lane marker detected by the lane marker detection unit 71 by comparing the difference between the lane marker lateral deviation and the inertia lateral deviation with a permissible range based on lane marker lateral deviation error and accumulatively increasing inertia lateral deviation error. The device determines that the reliability of the lane marker detected by the lane marker detection unit 71 is low when the difference exceeds the permissible range. |
