| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane keeping device and a lane keeping system keeping a lane by detecting a deviation tendency from a traveling lane, even in a situation where an abnormality may occur in a computer. SOLUTION: The lane keeping device comprises steering angle controlling means 22, 14 controlling a steering angle, an inclination detecting means 13 detecting the inclination of a traveling road, projecting/recessed portion detecting means 11FR to 11RR detecting projecting/recessed portions provided near a lane or on the lane according to design speed, and a design speed detecting means 21 detecting the design speed of the traveling road from the periodicity of a signal detected by the projecting/recessed portion detecting means. The steering angle controlling means decides a steering angle on the basis of the design speed detected by the design speed detecting means. COPYRIGHT: (C)2008,JPO&INPIT |
