| 摘要 |
PROBLEM TO BE SOLVED: To prevent a delay in judgement of a driver who has received an alarm or giving a sense of incompatibility. SOLUTION: In association with the start of a first alarm control, the output of an alarming sound is synchronized with intermittent giving of a steering torque. In the case the prediction time Tϕin which the yaw angleϕof one's own vehicle with respect to the lane end L lies below zero is short, the steering torque to be applied in a second alarm control is disengaged before the yaw angleϕhaving got zero, i.e., before the elapse of the prediction time. |
