| 摘要 |
<p>PROBLEM TO BE SOLVED: To use an actuater for a power steering or the like as an actuater for a lane follow-up control by a method wherein an electrical motor is driven in such a direction as one in which a steering torque applied to a steering wheel is reduced in response to an output of means for sensing a steering force. SOLUTION: An image picked up by a CCD camera 32 is at first sent to an image processing section 32a, where some processings such as a feature point extraction and a half-conversion or the like are carried out. The processed result is inpulled to a area recognizing part 32b possible to travel, and a area possible to travel is searched. Then, the output is sent to a target passage setting section 32c, a course where a vehicle tries to travel is designed and its result of processing is inputted to CPU 34. In addition, after outputs from a steering angle sensor 22 and a steering torque sensor 20 are converted into digital amount, they are inputted to CPU 34. In the lane follow-up control, the motor 24 is driven in such a way that the steering angle may be coincided with the target steering angle calculated by the CPU 34 in response to these information.</p> |
