| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling path recognition device, an automobile, and a traveling path recognition method for highly precisely obtaining a curvature. SOLUTION: A lane marker candidate point detection part 22 detects a plurality of coordinate values of lane marker candidate points from an picked-up image picked up by a CCD camera 10. A traveling path estimation part 23 estimates the road parameter and vehicle state amounts of a road model on the basis of the coordinate values of the lane marker candidate points, and obtains an approximate line for tracing a lane marker. A reference point calculation part 24 calculates a reference point to be used for curvature calculation on the basis of the obtained approximate line. Then, a curvature calculation part 25 recalculates curvature on the basis of the reference point and the road model. COPYRIGHT: (C)2010,JPO&INPIT
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