| 摘要 |
PURPOSE:To prevent one's own vehicle from being judged to break away even in the vicinity of a white line in the case that one's own vehicle is moving to a direction to avoid breakaway. CONSTITUTION:An advancing route is estimated by an advancing route estimating means 11 on the basis of the quantity of state of a vehicle such as a st steering angle and vehicle speed, etc. On the other hand, a traveling lane is estimated by a traveling lane estimating means 12 on the basis of the white line on the surface of a road. Then, on the basis of the difference of the radiuses of curvature of the estimated advancing route and the estimated traveling lane, the difference of the radiuses of curvature of the advancing route and the travleing lane is compared with a threshold determined on the basis of the vehcilevehicle speed, traveling lane width and the position of one's own vehicle in the traveling lane, etc., by a breakaway judging means 13, and it is judged whether one's own vehicle is in the state of the breakaway from the traveling lane or not. |
