| 摘要 |
PROBLEM TO BE SOLVED: To realize traveling kept within a lane with high precision through the use of a lane partitioning line even when a marker string is not detected. SOLUTION: An automatic steering device is provided with a lane partitioning line detecting part 1 for detecting the lane partitioning line, a marker string detecting part 2 for detecting a marker string on a traveling road, an arithmetic part 3 for calculating the first in-lane position of a self vehicle from the lane partitioning line, calculating the second in-lane position of the self vehicle from the marker string, calculating a deviation between the both in-lane positions, storing it and correcting the first in-lane position based on the deviation when the marker string is not detected and an actuator 4 for controlling steering based on the corrected first in-lane position. |
