| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane deviation decision device and a lane deviation evasion system for accurately deciding lane deviation without being affected by any complicate road shape, and for properly performing lane deviation evasion measures in a timing in which any sense of incompatibility is not given to a driver. SOLUTION: A lane deviation decision device 2 is provided with: a lane detection means 14 for detecting lanes LR and LL marked on a road; a traveling locus estimation means 15 for estimating the traveling locus Lest of its own vehicle based on the behavior of its own vehicle MC; a detection means 16 for detecting DR<SB>0</SB>, DL<SB>0</SB>, DR<SB>1</SB>, and DL<SB>1</SB>between the traveling orbit and a lane on predetermined distances L<SB>0</SB>and L<SB>1</SB>ahead of its own vehicle; an estimation means 17 for calculating estimation values DR<SB>0</SB>est, DL<SB>0</SB>set, DR<SB>1</SB>set, and DL<SB>1</SB>est of the interval after the lapse of a fixed time t<SB>b</SB>since the current time t<SB>0</SB>based on the transition of data within the past predetermined time t<SB>a</SB>of the interval; and a decision means 18 for deciding the possibility of the lane deviation of its own vehicle by comparing the estimation value of the interval with a threshold Dth relating to the interval. COPYRIGHT: (C)2008,JPO&INPIT |
