| 摘要 |
PROBLEM TO BE SOLVED: To provide a device and method for determining an entry into a fork road, capable of determining that a vehicle has entered the fork road, even when a road sign cannot be recognized. SOLUTION: The method includes the steps of (1) acquiring branch information at a position P1 entering the fork road; (2) calculating an average lane width value LaneW_AVE; (3) recognizing a right white line class and a left white line class; (4) detecting expansion of a lane width; when advancing to a position P2; (5) continuing to detect the left white line as a solid line, but failing to detect the right white line at a position P3; and (6) redetecting the right white line, when advancing to a position P5, thereby determining that the vehicle has entered the fork road. COPYRIGHT: (C)2011,JPO&INPIT |
