| 摘要 |
<p>PROBLEM TO BE SOLVED: To prevent running line deviation avoiding control from interfering with driving operation based on an intention of a driver and control decreasing a turn level of a vehicle. SOLUTION: When a running line deviation of a self vehicle is detected by a running lane deviation detection means M4, an alarm is generated to a driver by actuating an alarm actuator 11, also a deviation from a running lane is avoided by actuating a steering actuator 7. When a sudden operation of a steering wheel based on an intention of the driver is detected in a running lane deviation intention decision means M7, deviation avoiding control is regulated. When a turn level approximate to a limit of maneuvering performance of a vehicle is detected in a turn level detection means M6, the deviation avoiding control is regulated, also the turn level of the vehicle is reduced by actuating a throttle actuator 9 and brake actuators 2, 4.</p> |
