Vehicle drive-control device

摘要

A vehicle drive-control device that performs trajectory control in which a steering wheel is controlled so as to make the vehicle move along a target trajectory. When the possibility exists that the direction of travel of the vehicle may be changed by said trajectory control, at least one of the following is changed before such a change is made, thereby giving the occupants of the vehicle advance notice of the possibility of a trajectory-control-caused change in vehicle travel direction: the control position of a steering input means operated by the driver; the yaw angle of the vehicle; and the horizontal position of the vehicle with respect to the road.