| 摘要 |
PURPOSE:To set up an optimum objective route restricting lateral load applied to a vehicle and to stabilize the traveling of the vehicle by correcting the objec tive route so that loss load based upon the arithmetic operation does to exceed a limited value at the time of traveling the vehicle on the objective route at a current speed. CONSTITUTION:An image processing part 2 samples an image picked up by an image pickup part 1, processes the data of the sampled image and extracts a continuous segment such as a road edge. The traveling state of the vehicle is detected by a vehicle speed sensor 6, a yaw rate sensor 7 and a steering angle sensor 8. The objective route is corrected so that lateral load applied to the vehicle traveling the objective route does not exceed the previously set restricted value. The controlling objective value of the steering angle necessary for traveling the vehicle on the corrected objective route is found out by the arithmetic operation based upon the traveling state of the vehicle detected by respective sensors 6 to 8. Then steering control and steering driving are executed by a steering control part 9 and a steering driving part 10 in accor dance with the controlling objective value. |
