| 摘要 |
<P>PROBLEM TO BE SOLVED: To compensate time delay occurring when a curvature or a curve radius is calculated. <P>SOLUTION: An ECU 30 of a lane stay device 1 removes noises generated during data processing by filtering, for example, the detected curvature or curve radius, and improves accuracy of detection of the curvature or curve radius. The ECU 30 increases a time reduction rate of a curvature when its own vehicle starts to travel on a straight road after completing traveling on a curved road, or a time increase rate of the curve radius is increased. Thus, the time delay generated in the case of noise removing is compensated since a time requiring a curvature value for becoming zero or a time requiring the curve radius value for becoming a curve radius value corresponding to a straight line is shortened. Therefore, the lane stay device 1 can maintain a lane without time delayed. <P>COPYRIGHT: (C)2007,JPO&INPIT |
