| 摘要 |
PROBLEM TO BE SOLVED: To improve the precision of road shape recognition while suppressing the excessive increase of computational complexity required for correction of road data. SOLUTION: A non-operation determination part 22 determines an operation part 20 to be not operated when a safety device 21 is not operated for an estimated curve estimated by a road shape estimation part 17 and a speed of a vehicle is reduced by a prescribed value or more by driver's decelerating operation before entrance to the estimated curve or during driving, or when the safety device 21 is not operated for the estimated curve estimated by the road shape estimation part 17 and the vehicle is not in such an appropriate state that the vehicle can normally pass the estimated curve. A data correction part 26 changes road data in a storage part 11 for use in detection of a recognition curve shape corresponding to the estimated curve or adds new road data to the storage part 11 so that the operation part 20 can be easily operated for the estimated curve for which the operation part has been determined to be not operated by the non-operation determination part 22. COPYRIGHT: (C)2008,JPO&INPIT
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