VEHICLE TRAVELING STATE DETERMINATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a vehicle traveling state determination device capable of determining meandering of a vehicle even in case that a white line is difficult to see or in a snow road.

SOLUTION: The traveling state determination device comprises a camera 1 imaging a road surface in the traveling direction of the vehicle, and a meandering state detection means determining the meandering quantity based on the road surface image taken by the camera. The meandering state detection means comprises a white line determination mean 12 determining a white line similar part of the road surface; a white line position detection means 12 determining positions determined as white lines on the right and left sides of the center of the road surface image; an approximation means 12 approximating the white line-determined positions determined by the detection means with a straight line directing an extinguishment point; a left meandering quantity calculation determination means 12 calculating the meandering quantity in the left boundary based on the left straight line approximated by the approximation means; a right meandering quantity determination means 12 calculating the meandering quantity in the right boundary based on the right straight line approximated by the approximation means; and a determination means 13 determining the meandering of the vehicle based on the calculation results of the left meandering quantity calculation means and the right meandering quantity calculation means.

COPYRIGHT: (C)2005,JPO&NCIPI