| 摘要 |
<p>Support control is provided which can further suppress an uncomfortable feeling given to a driver when performing driving support for an obstacle rearward and sideward of a vehicle. A braking/driving force control unit (8) detects a road shape ahead of a vehicle and determines whether or not the driver has a intention of lane change on the basis of the detected road shape and the steering amount steered by the driver. The braking/driving force control unit (8) detects an obstacle which is an obstacle present rearward and sideward of the vehicle. The braking/driving force control unit (8) determines whether approach prevention control for preventing an the vehicle from approaching to the obstacle should start, when it is determined that the driver has the intention of lane change and the obstacle is detected, and performs the approach prevention control for supporting prevention of the vehicle from approaching to the obstacle when it is determined that the control should start. At this time, the braking/driving force control unit (8) determines detection accuracy of the road shape ahead of the vehicle and suppresses the determination of the start of the control when the detection accuracy is low.</p> |
