device to determine whether a vehicle is in the trace leaves

摘要

PROBLEM TO BE SOLVED: To provide a vehicle deviation decision device for reducing the erroneous decision of deviation even when a traveling segment is erroneously recognized.;SOLUTION: Lane width information Winf acquired by a traveling segment detection means is read (step S1), and in response to a lane width output value Wout_old in the previous time step, when the value of the lane width information Winf is within the range of the predetermined change amounts, that is, (Wout_old+Wdec) or more and (Wout_old+Winc) or less, the value of the Winf is set as a lane width output value Wout as it is (steps S5 to S9 to S11 to S8), and when the value of the lane width information Winf is beyond the predetermined range, that is, less than (Wout_old+Wdec), the (Wout_old+Wdec) is outputted as a lane width output value Wout (steps S5 to S9 to S10 to S8), and when the value of the Winf exceeds (Wout_old+Winc), the (Wout_old+Winc) is outputted as the lane width output value Wout.;COPYRIGHT: (C)2007,JPO&INPIT