| 摘要 |
[Object] An object of the present invention is to restrict an unnecessary control intervention at a scene where a vehicle avoids an obstacle etc. ahead of the vehicle by steering. [Means to Solve] A lateral object that exists on a side of the vehicle is detected (step S3), a later-arriving lateral position Xf at which the vehicle arrives after a lapse of a headway time Tt, with respect to a traffic lane, is estimated, and when the later-arriving lateral position Xf reaches a predetermined threshold value XL under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1 (step S6). Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1 (step S7). When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time Tm elapses, then the suppression of the lateral movement is forbidden (step S9).
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