| 摘要 |
A driving-force control amount, namely the position of an accelerator pedal (32) that a driver operates in order to dictate the amount of driving force produced, is detected, as are the turn state and speed of the ego vehicle (V), and the environment surrounding the ego vehicle is recognized. If the recognized environment contains parking-space lines, the detected turn state is at or beyond a preset first acceleration-restriction turn threshold, and the detected vehicle speed is greater than or equal to a preset first acceleration-restriction vehicle-speed threshold, restriction of the acceleration of the ego vehicle, controlled in accordance with the detected driving-force control amount, is started. |
