| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a vehicular lane keep control device which uses simplified image processing and performs adequate steering control without being affected by the pitch fluctuation of a vehicle body. <P>SOLUTION: In the vehicular lane keep control device, right and left white lines of a road are detected on the plane screen of an image picked up by a CCD camera, two lines with both white lines straight-approximated (S1 and S2), and if they are correctly recognized (S3), a null which is an intersection of on extensions of both white lines is obtained, and the deviation of the null in the horizontal direction between the null and the center line of the plane screen (S5), a middle point between the white lines in the straight line at the position separate from the null by the predetermined quantity downwardly in the vertical direction on the plane screen is obtained, and the deviation of the middle point in the horizontal direction between the middle point and the center line of the plane screen (S6), the steering control quantity is determined by using the deviation of the null as the deviation of the yaw angle of a vehicle, and the deviation of the middle point as the transverse deviation of the vehicle to perform the steering control (S7). <P>COPYRIGHT: (C)2005,JPO&NCIPI |
