| 摘要 |
<p>An object of the present invention is to provide a technology of performing assist of warning or auxiliary in an optimal way without bothering the driver. The present invention provides a travel assist apparatus that performs assist of warning or auxiliary for preventing departure of a vehicle in a lateral direction of the vehicle, wherein the value of the estimated time to lane crossing at which assist is to be performed is varied in accordance with the velocity of the vehicle in the lateral direction. This enables to select a value of the estimated time to lane crossing at which assist is to be performed suitable for the velocity of the vehicle in the lateral direction, enabling optimization of the timing of performing assist. Therefore, assist of warning or auxiliary in an optimal way without bothering the driver.</p> |
