| 摘要 |
A deviation avoidance device comprising: a boundary detection unit that detects boundaries prescribing both ends, in the width direction, of a travel path to be traveled by a vehicle; a deviation prediction unit that predicts deviation from the travel path by the vehicle, on the basis of the travel state of the vehicle traveling the travel path prescribed by the boundaries detected by the boundary detection unit; an object detection unit that detects an object present on or outside the boundary on the side that the vehicle will deviate from the travel path; a deviation avoidance unit that instructs a travel control device that controls the travel state and causes same to avoid deviation by the vehicle from the travel path, if the deviation prediction unit predicts deviation by the vehicle from the travel path; and a command value adjustment unit that, if the object detection unit detects an object, adjusts command values instructed to the travel control device by the deviation avoidance unit, such that the maximum movement position to which the vehicle moves towards the deviation side is further inside the travel path than the boundary on the deviation side. |
