Fuji Jukogyo Kabushiki Kaisha

Yuichiro Tamura

Koichi Abe

Hiroyuki Sekiguchi

Toru Saito

In a vehicle driving assistance device, a steering controlling unit estimates lane lines behind a subject vehicle based on lane lines recognized ahead of the subject vehicle and a running state of the subject vehicle, determines whether or not there is a passing vehicle on an adjacent lane based on the estimated lane lines behind the subject vehicle and a solid substance that is detected behind the subject vehicle by a solid substance detecting unit. If there is a passing vehicle a set distance behind the subject vehicle, the steering controlling unit corrects a steering angle of steering control set based on the lane lines ahead of the subject vehicle toward a direction in which the subject vehicle moves wary from the passing vehicle.

Vehicle driving assistance device

In right and left white road line detection regions on a image, a stereo image recognition device of a white road line recognition device for a vehicle detects a pair of a white road line starting point and a white road line ending point for each of retrieval lines set in the horizontal direction based on the change in the luminance on the retrieval lines, calculates a midpoint Pm between each pair of the white road line starting point and white road line ending point, selects a point group with a smaller dispersion between the point group consisting of the white road line starting points and the point group consisting of midpoints based on a predetermined condition, and calculates a white road line based on the selected point group.

White road line recognition device for vehicle

The stereo image recognition device detects a first white road line starting point by luminance change on retrieval lines in a first white road line detection region set on an image, calculates an approximation line for a point group of the points, sets white road line search lines inside the approximation line in the vehicle width direction, and searches a white road line inside thereof based on luminance information on the search lines. When there is a white road line, the device sets a second white road line detection region by expanding the first region toward inside in the vehicle width direction, detects a second white road line starting point not overlapping the first point, calculates a white road line based on a point group of the first points or the second points selected on a predetermined condition, and sets the first region based on the calculated line.

Growing community of inventors

Tokyo, Japan

Yuichiro Tamura