| 摘要 |
<P>PROBLEM TO BE SOLVED: To recognize and correct an error in an early stage even when a branch road is erroneously determined, and to execute travel support control based on actual left and right boundary lines. <P>SOLUTION: On the basis of an image of a road surface in an advancing direction of a vehicle acquired by a camera, "a left side boundary line and a right side boundary line" of the road surface are detected. When there is a branch road branching from a main track, "a branch road index value BRH to be greater in size as the vehicle advances" is acquired on the basis of the detected "left side boundary line and right side boundary line", and it is determined that there is the branch road when the size of the branch road index value is equal to or larger than a first threshold A1 (step 520 and step 530). Further, when the size of the branch road index value BRH acquired after determining that there is the branch road becomes smaller than "a branch determination end threshold (second threshold A2) equal to or smaller than the first threshold A1", the determination that there is the branch road is canceled (step 550 and step 570). <P>COPYRIGHT: (C)2013,JPO&INPIT |
