| 摘要 |
PROBLEM TO BE SOLVED: To perform the automatic traveling of a vehicle laid along a second lane after lane change by setting a second guide force to be imparted to a steering means so as to realize a vehicle traveling laid along the second lane according to the magnitude and direction of displacement of its own vehicle from a second target route. SOLUTION: When a vehicle is transferred to the right lane, a guide force is increased according to the reduction in count value of a first timer. The origin of the vehicle is not on the original lane, and placed on the second target route of the second lane. Thus, the steering force felt by a driver according to time is directed to the second target route. If the vehicle is on the second target route, the guide force is 0. The guide force is increased in proportion to the separation from the second target route. When the lane change is stopped in the course, the system senses it to recover the standard guide force suitable for the traveling along the original lane.
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