| 摘要 |
<P>PROBLEM TO BE SOLVED: To set a state spatial filter to have an appropriate following characteristic, corresponding to a vehicle behavior by attaining both stability and high-speed in the following of the state spatial filter, such as Kalman filter that is used for road model estimation. <P>SOLUTION: An estimation processing ECU 4 applies a prescribed state spatial filter to a state spatial model that is the road model which includes the coordinate of each lane marker candidate point, which is obtained from an edge image, based on the photographic image of a camera 2 mounted on a vehicle 1 in an observation vector, and derives the parameters of a road shape and a vehicle state, so as to estimate the road model. In this case, the height of the dynamic characteristics in the driving matrix of the state spatial filter is varied, in response to the magnitude of the change of steering speed detected by a steering sensor 3; then the following characteristics of the state spatial filter are varied. <P>COPYRIGHT: (C)2007,JPO&INPIT |
