| 摘要 |
PURPOSE:To ensure the stable run of a vehicle along a target route by setting a target point on the target route according to the distance obtained by multiplying a fixed estimated time by the velocity of the vehicle. CONSTITUTION:An image pickup part 1 containing a video camera, etc., is attached to a vehicle and image-pickups the areas spreading in the traveling direction of the vehicle. Then a vehicle velocity sensor 6 is added to detect the traveling velocity (v) of the vehicle together with an image processing part 2, a travelable area recognizing part 3, a target route setting part 4, and a control part 5 respectively in a microcomputer. Then a target point is set at a position on a target route preceding the vehicle by a distance obtained by multiplying a prescribed time by the velocity (v) detected by the sensor 6. Thus an optimum target point can always be set to the target route and the stable run of the vehicle is ensured along the target route. |
