PROBLEM TO BE SOLVED: To provide a lane-keep support apparatus capable of performing lane-keep support continuously even in a case where the state of detecting one of right-left division lines of a lane is not good.SOLUTION: A lane-keep support apparatus 1 includes: a division line detection part 13 for detecting right-left division lines of a lane in which a vehicle is traveling; a detection state determination part 32 for determining whether the states of detecting the right-left division lines are good; a target position setup part 35 for setting a target position using respective positions of the right-left division lines in a case where the states of detecting both of the right-left division lines are determined to be good, or in a case where the state of detecting one of the right-left division lines is determined not to be good, for setting a position obtained by adding a given distance (e.g., a half of a lane width) as a target position inside the lane in which the vehicle is traveling, using the position of the other division line which is well detected as a reference; and lane-keep support parts 37, 20 for performing lane-keep support on the basis of the set target position.
【課題】車線の左右の区画線のうちの一方の検出状態が良好でない場合でも車線維持支援を継続して行うことができる車線維持支援装置を提供することを課題とする。【解決手段】車線維持支援装置1であって、走行中の車線の左右の区画線をそれぞれ検出する区画線検出部13と、左右の区画線の検出状態の良否をそれぞれ判定する検出状態判定部32と、左右の区画線の両方の検出状態を良好と判定した場合には左右の区画線の各位置を用いて目標位置を設定し、左右の区画線うちの一方の検出状態を良好でないと判定した場合には検出状態が良好な他方の区画線の位置を基準として走行中の車線の内側に所定距離(例えば、車線幅の半分)加味した位置を目標位置として設定する目標位置設定部35と、目標位置に基づいて車線維持支援を行う車線維持支援部37,20とを備える。【選択図】図1
LANE-KEEP SUPPORT APPARATUS
車線維持支援装置
2015-12-10
Patent
Elektronische Ressource
Japanisch
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