| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane keeping controller that can continue lane keeping control without giving an unnatural feeling to a driver when a risky vehicle is detected in an adjacent lane during lane keeping control.SOLUTION: A lane keeping controller comprises: travel lane detection means that detects a travel lane of an own vehicle; another vehicle detection means that detects another vehicle which travels at an adjacent lane; degree of risk determination means that determines a degree of risk of the other vehicle; steering detection means that detects steering of a driver; and travel position change means that sets a target position where the own vehicle keeps traveling when the other vehicle is detected and controls the own vehicle to travel while keeping the target position. The travel position change means sets the target position to a first position that is a position offset from a predetermined position to a side opposite to the other vehicle and that corresponds to the degree of risk, changes the target position to a second position corresponding to a steering amount and steering direction of the driver when steering by the driver is performed when vehicle control corresponding to the degree of risk is conducted, and controls the own vehicle to travel the second position. |
