| 摘要 |
PROBLEM TO BE SOLVED: To perform a steering control so as to extend a distance to lane deviation or a time to lane deviation by detecting the lane deviation of a vehicle based on the road shape of a traveling. SOLUTION: Whether the vehicle tends to come out of the lane or not is judged by detecting a white line from the image of the front of the vehicle photographed with a camera 1. When the vehicle tends to come out of the lane, an alarm is issued, and a steering control mechanism is controlled by gradually varying a control curvatureρ<SB>c</SB>as a steering control parameter. Thus, the distance to deviation or the time to lane deviation can be extended, and a widthwise deviation distance can be reduced. COPYRIGHT: (C)2005,JPO&NCIPI |
