| 摘要 |
PROBLEM TO BE SOLVED: To provide a drive support apparatus capable of suppressing a shift between a turn radius of a vehicle itself and a curvature radius of a travel lane of the vehicle itself even when supporting steering of the vehicle itself on the basis of a travel of another vehicle travelling in an adjacent lane.SOLUTION: A vehicle-incorporated drive support apparatus 10 performs: acquiring a yaw rate of a vehicle itself and that of a preceding vehicle; comparing a magnitude of the yaw rate of the vehicle itself with that of the yaw rate of the preceding vehicle; determining which of an outer side lane adjacent to a travel lane of the vehicle itself and an inner side lane adjacent thereto the preceding vehicle travels, on the basis of the result of comparison between the magnitude of the yaw rate of the vehicle itself and that of the yaw rate of the preceding vehicle; and setting a target yaw rate of the vehicle itself at an average value of the yaw rate of an outer-side preceding vehicle that travels in an outer-side adjacent lane and that of an inner-side preceding vehicle that travels in an inner-side adjacent lane, and supporting steering of the vehicle itself so that the yaw rate thereof is close to the target yaw rate, in a case where there is not any preceding vehicles in the travel lane of the vehicle itself and there are the outer-side preceding vehicle and inner-side preceding vehicle. |
