| 摘要 |
PROBLEM TO BE SOLVED: To calculate the horizontal displacement, the yaw angle of a vehicle and the curvature of a road with only a small delay from an actual value while minimizing the unstable factors of the result of white line detection included in image processing. SOLUTION: A picked up image in the periphery of the vehicle is processed to calculate physical quantities expressing the relationship between the vehicle and the road, and on the basis of physical quantities except for the physical quantity being a smoothing object, the variation of the physical quantities of a smoothing object is predicted. Then, in accordance with the predictive variation rate of the physical quantities being the smoothing object, the frequency characteristics of a variable characteristic type digital filter are changed and the physical quantity being the smoothing object is smoothed by using the variable characteristic type digital filter. Thus, even when the result of the white line detection by image processing becomes unstable, the frequency characteristics of the variable characteristic type digital filter can be changed in real time in accordance with the traveling state of the vehicle. Then, stable physical quantities can be obtained by minimizing the unstable factors of the result of the white line detection included in image processing. |
