| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a lane mark recognition device for a vehicle for recognizing a lane mark in a straight road or curve road. <P>SOLUTION: This lane mark recognition device of a vehicle includes extracting data corresponding to a lane mark by using the prediction result of the position or shape of a lane center line and lane width in this time cycle (step S4), and generating data equivalent to the lane center line by correcting the axial line direction components (x-axial components) of the extracted data (step S5), and calculating the position or shape of the lane center line by Hough transformation processing using the generated data (step S6), and calculating the frequency distribution of the relative positions from the lane center line of the data extracted in the step S4 (step S7), and calculating auto-correlation functions to the frequency distribution, and calculating the lane width of the road (step S8). In the step S9, the position or shape of the lane center line and the lane width in this time cycle or after several cycles are estimated/predicted by a Kalman filter. <P>COPYRIGHT: (C)2008,JPO&INPIT |
