| 摘要 |
PROBLEM TO BE SOLVED: To make continuously computable a travel path model parameter even when only lane markers of one side of a travel lane where user's own vehicle is traveling can be detected. SOLUTION: When lane markers of both the sides of the travel lane where the user's own vehicle is traveling are detected, the ground height Hpc of the license plate of a precedent vehicle is detected; when a state wherein only lane markers of one side of the travel lane can be detected is entered, it is considered that the ground height Hpc of the license plate of the precedent vehicle is the same and other travel path parameters are computed by using a Karman filter set according to six relational expressions including the distance L to the precedent vehicle. |
