| 摘要 |
Provided is a lane departure avoidance system (1) which sets a target spot to the front within a lane in which a vehicle is currently traveling, and using a fifth-degree polynomial versus time, calculates a target trajectory which is a trajectory in which the vehicle will travel to the set target spot. Thereafter, if the vehicle travelling along the target trajectory diverges from the target spot in an orthogonal direction that is orthogonal to the direction in which the lane extends, and returns to the target spot, then a determination is made that it is necessary to recalculate the target trajectory. If it has been determined that it is necessary to recalculate the target trajectory, the target trajectory is recalculated. In order to recalculate the target trajectory, a fifth-degree or higher polynomial versus time or a first-degree polynomial versus time is selected, according to the state of travel of the vehicle. If a first-degree polynomial versus time is used, lateral velocity, which is the velocity at which the vehicle moves in the orthogonal direction, is calculated and used. |
