| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a driving lane detection apparatus capable of highly accurately finding out the curvature of a driving lane. <P>SOLUTION: In the driving lane detection apparatus for photographing a driving lane by an image pickup means and finding out the curvature of the driving lane, the curvature of the driving lane on a preceding position from a present position is found out, and when the curvature of the driving lane on the preceding position is larger than that of the present position, a change in the curvature of the driving lane is permitted as compared with a smaller case, and the curvature of the driving lane on the present position is found out on the basis of the permitted curvature change. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
