| 摘要 |
PROBLEM TO BE SOLVED: To improve responsiveness while suppressing influence of noise, in calculation of road curvature through lane recognition. SOLUTION: The lane recognition device calculates road curvatureρfrom an image (step S1), and calculates a turn curvatureκfrom turn behavior (step S2). When a difference between the road curvatureρand the turn curvatureκis larger than a threshold value th1, and when the road curvatureρhas a tendency of approaching the turn curvatureκ(Yes in step S4 or S9), the lane recognition device decides that an influence degree of the noise to the road curvatureρis small and that it is mere response delay, and reduces a smoothness to the road curvatureρ(steps S5, S10). When the road curvatureρhas a tendency of separating from the turn curvatureκ(No in step S4 or S9), the lane recognition device decides that the influence of the noise to the road curvatureρis large and that it is not the mere response delay, and increases the smoothness to the road curvatureρ(steps S6, S11). COPYRIGHT: (C)2011,JPO&INPIT |
