| 摘要 |
If a vehicle approaches either a left or a right white line, the present invention calculates a repulsive force corresponding to a lateral position separating the vehicle from the white line in question and makes the repulsive force corresponding to the lateral position greater as the distance between the vehicle and the white line in question decreases. When controlling a turning unit (2), which turns left and right front wheels (5FL, 5FR) on the basis of the repulsive force corresponding to the lateral position, if a determination has been made that the other among the left and right white lines cannot be detected, when an increase gradient of the repulsive force corresponding to the lateral position becomes equal to or less than a predetermined increase gradient, the increase in the repulsive force corresponding to the lateral position is inhibited, and a decrease is permitted. |
