VEHICLE DRIVING SUPPORT DEVICE

摘要

PROBLEM TO BE SOLVED: To perform autonomous vehicle control by easily estimating a white line type even if the white line type of a road surface cannot be recognized due to a scrape, a stain and the like. SOLUTION: A road surface state detection device 1 includes: a rear camera 6; a white line type recognition section 8 for recognizing a type of a white line for discriminating a traffic lane of an own-vehicle; a white line type storage section 9; a white line type estimation section 10; and a vehicle control device for controlling a vehicle based on the white line type. The white line type for discriminating the current traffic lane of the own-vehicle is recognized in real time by image processing, and the recognized white line type is stored as a travel history in the white line type storage section 9. When the white line type cannot be recognized, the white line type estimation section 10 estimates the white line type of the past stored in the white line type storage section 9 as the type of the current white line, and performs speed control on the basis of the estimation. COPYRIGHT: (C)2011,JPO&INPIT