| 摘要 |
PROBLEM TO BE SOLVED: To speedily recognize the track of a travel lane in a traveling direction at a branch point or confluence point by detecting one white line as the track out of extracted white lines according to the traveling direction that a turn signal indicates when the branch or confluence point is detected. SOLUTION: The presence of the branch point or confluence point in front of the vehicle is detected from road data representing road information in front of the current position of the vehicle obtained from a navigation device 13, the turn signal which is generated by a turn switch 11 and indicates the traveling direction of the vehicle is detected, and those detection results are used to select one of white lines. In this device, the turn switch 11 is connected to ECU 2 for image processing and ECU 3 for steering control. Then the image processing ECU 2 decides whether or not there is a branch point ahead in the traveling direction after a linear approximating process. This decision is made according to road data outputted by the navigation controller 10 of a navigation device 13. |
