| 摘要 |
PURPOSE:To provide the road shape recognizing device which can accurately estimate parameters of a road shape even when a vehicle slants to a road surface in the front-rear direction. CONSTITUTION:An image of the travel road including a lane end in front of the vehicle is picked up by a video camera 1, and its image data are stored in an image memory 2 and processed by an image processing processor 3 to obtain information on the lane end. A distance measuring sensor 6, on the other hand, detects the front and rear vehicle height values of the vehicle and a vehicle speed sensor 7 detects the vehicle speed. Then a CPU 4 calculates the shape of the road from image information processed by the image processing processor 3 and stores the parameters of the road shape in a RAM 5 and a pitch angle of the vehicle is calculated from the height value of the vehicle obtained from the distance measuring sensor 6 and when a pitch angle is outside a specific range and it is judged that the vehicle slants, a movement quantity is calculated from the output of the vehicle speed sensor 7, etc., and the parameters of the road shape are estimated from the calculated movement quantity and the latest past movement quantity stored in the RAM 5. |
