| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a virtual white line setting technique that gives no discomfort or fear to vehicle occupants. <P>SOLUTION: A front camera 10 is used for detecting white lines of the traffic lane where a relevant vehicle is running and objects on the traffic lane obstructive to the running of the vehicle, and upon the detection of such an object, virtual white lines are set according to formula (1): virtual white line position=detected white line position+virtual white line curvature, and an equation indicated by formula (2) on the basis of the distance between the vehicle and the object and the speed of the object both detected by an on-vehicle radar 30 and the speed of the vehicle detected by a speedometer 40. The virtual white line curvature in formula (1) is formula (2), where X<SB>r</SB>is a distance of departure of the object from the white line, X<SB>m</SB>is an avoidance margin, ttc is a collision time, ttc<SB>start</SB>is a virtual white line curvature start time, ttc<SB>end</SB>is a virtual white line curvature end time, andαis a coefficient for computing virtual white lines forward of the vehicle position. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
