| 摘要 |
PROBLEM TO BE SOLVED: To solve such a problem that the own vehicle is difficult to determine its traveling lane for a short time. SOLUTION: A lane determining apparatus for determining the traveling lane of the own vehicle traveling on a one-side multilane road is provided, which includes: a photographing means for photographing the road; a partition line recognizing means for recognizing a partition line from an image photographed by the photographing means; a first locus calculating means for calculating a first locus of the own vehicle by repeatedly calculating distances up to the photographing means from the partition line recognized by the partition line recognizing means; a second locus calculating means for calculating a second locus of the own vehicle on the basis of an autonomous navigation; a third locus calculating means for calculating a third locus of the own vehicle on the basis of the first locus calculated by the first locus calculating means and the second locus calculated by the second locus calculating means; and a traveling lane determining means for determining the lane on which the vehicle travels on the basis of the third locus calculated by the third locus calculating means. COPYRIGHT: (C)2010,JPO&INPIT |
