| 摘要 |
PROBLEM TO BE SOLVED: To simply detect a lane where a vehicle is running in detecting the vehicle approaching from the rear by a camera mounted backward on the vehicle. SOLUTION: A steering angleθand a driver's own vehicle speed V are stored for the past designated time, whereby the shape of a road is estimated from the locus of running of the own vehicle, an area is set from the approximate shape of each running lane, and approach of some other vehicle and its running lane area are detected from the respective optical flows. As for the running lane, the position of a lane marker very near the own vehicle is detected to estimate the running lane, or from the storage of the lane marker, a more accurate running lane is calculated. Three-dimensional distortion is absorbed by detecting a gradient of a road to further accurately estimate the shape of the road.
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