Patent ID: 7388967

Claim:
A vehicle meandering state judging apparatus for a vehicle, comprising: a camera which continuously captures an image of a road surface along a running direction of the vehicle; an image processing unit configured to process the image captured by the camera and continuously provide processed images representing the road surface; and a control unit configured to obtain an amount of meandering of the vehicle based on the the processed images, independently of any white line on the road surface, the control unit arranging a first pixel group and a second pixel group arrayed along a horizontal direction over each of the processed images, with the second pixel group positioned at a location different from the first pixel group, wherein the control unit comprises: a first gray value detection section configured to determine gray values based on each of the processed images along the first pixel group and detect a plurality of reference detecting positions along the first pixel group, independently of any white line on the road surface, based on the gray values; a second gray value detection section configured to determine gray values based on each of the processed images along the second pixel group and detect the reference detecting positions determined by the first gray value detection section along the second pixel group based on the gray values; a meandering state detecting section configured to compare the reference detecting positions detected along the second pixel group relative to the reference detecting positions detected along the first pixel group and determine a relative positional shift of the reference detecting positions along the second pixel group to calculate the meandering amount and judge whether the vehicle is in a meandering state based on the calculated meandering amount.