| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent the occurrence of a stationary error and avoid estimating an impossible road shape change in an actual vehicle motion. <P>SOLUTION: After preprocessing such as Sobel filtering is applied to an image picked up by a camera 1 (steps S1 and S2), an area to detect is set and a lane marker candidate point is calculated (steps S3 and S4), and a road shape is estimated on the basis of the respective lane marker candidate point for each area to detect (step S5). Then, a road model is set to bethe straight road model, a vehicle motion model with speed and steering angle to input is used, and a virtual steering angle counteracting yaw rate and lateral acceleration is set as an estimate item for the vehicle motion model. The straight road model and the vehicle motion model are used to estimate each state quantity and the road shape. <P>COPYRIGHT: (C)2004,JPO |
