PROBLEM TO BE SOLVED: To provide a curve detection device for detecting a curve in a front direction of a vehicle stably, before approaching to the curve.SOLUTION: A fuzzy inference determines whether or not, a candidate of a curve start point Cc in a front direction of a vehicle, detected by images 60, 61 obtained by image processing to images including a lane mark imaged by a camera 16, is the curve start point Cc. More particularly, approach distance Di from distance Dp of the curve start point Cc in a past frame to distance Dn of the curve start point Cc in a present frame, is determined, and the approach distance Di and movement distance Dr of a vehicle 12 determined based on time ΔT between both frames and vehicle speed v, are compared. When distance difference |Di-Dr| is large, it is estimated that, probability that detection is correctly performed is low, and when the distance difference |Di-Dr| is small, it is estimated that, probability that detection is correctly performed is high, and then determined.SELECTED DRAWING: Figure 6

    【課題】カーブ進入前に車両前方のカーブを安定的に検出するカーブ検出装置を提供する。【解決手段】カメラ16で撮像されたレーンマークを含む画像に対して画像処理を行うことによって得た画像60、61で検出された車両前方のカーブ開始点Cc候補が、カーブ開始点Ccであるか否かを、ファジー推論により決定する。より具体的には、過去フレームのカーブ開始点Ccの距離Dpから、現在フレームのカーブ開始点Ccの距離Dnまでの接近距離Diを求め、この接近距離Diと、車速vと両フレーム間の時間ΔTとから求まる車両12の移動距離Drとを比較し、距離差|Di−Dr|が大きい場合には正しく検出された可能性が低いと考え、距離差|Di−Dr|が小さい場合には正しく検出された可能性が高いと推論して決定する。【選択図】図6


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    Title :

    CURVE DETECTION DEVICE


    Additional title:

    カーブ検出装置


    Contributors:

    Publication date :

    2016-02-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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