| 摘要 |
PROBLEM TO BE SOLVED: To set the control start timing of lane deviation prevention to a proper timing which is not far from a feeling of a driver.SOLUTION: When a vehicle transverse position xv is present in a region R1 at a lane center side outside a dead band D and inside a threshold position xth at a transverse position set in a lane width direction, first support control for determining lane deviation from a lane deviation predicated time Tttlc is selected. When the vehicle transverse position xv is present in a region R2 at a lane edge side outside the threshold position xth, second support control for determining lane deviation on the basis of the vehicle transverse position xv and a to-lane yaw angle &thetas;yaw is selected. Thus, it is possible to early start deviation prevention control under such a situation that a vehicle is traveling in the vicinity of a lane boundary in a timing which is not far from a feeling of a driver, and to prevent the driver from being given an unusual feeling. |
