| 摘要 |
PURPOSE:To exactly execute steering control, even in the case there is missing in a curve part whose curvature is large and white line information by determining significance of information in each gaze point, based on a deviation amount of an inclination of a white line in the gaze point which becomes a reference and other gaze point, in plural gaze points. CONSTITUTION:A vehicle 1 photographs a white line 3 on a road in front of its advance position, and runs along on this white line 3. The vehicle 1 calculates information (steering angle) in plural photographed gaze points L0-Li. The vehicle 1 takes these gaze points L0-Li from right front of this vehicle 1 on a line extended straight forward in the (y) axis direction from this vehicle 1. The vehicle 1 derives horizontal deflections x0-xi being a distance extending from these gaze points L0-Li to each point P0-Pi for intersecting to the white line 3, and inclinations t0-ti against the advance direction of the vehicle 1 of the white line 3 in each point Pi. Moreover, the vehicle 1 determines significance of each gaze point information, based on a deviation amount of this inclination (ti), and determines an output steering angle by using this significance. |
