| 摘要 |
PROBLEM TO BE SOLVED: To provide a travel control unit that autonomously performs corrective steering in a case where there is a feature that a vehicle may be deviated from a travel path, prevent a driver from feeling botheration, and prevent the driver from being concerned about the deviation from a travel road.SOLUTION: A trajectory deviation quantity α is obtained as an index value of a fear that a vehicle may be deviated from a travel path (S100). If the trajectory deviation quantity α exceeds a threshold αlim (S270), travel control is implemented in order to reduce the fear by correcting a steering angle of front wheels and allowing the vehicle to make a corrective motion (S290 and S300). If a driver performs a steering maneuver in a direction or reducing the fear (S200 and S210), the threshold αlim is decreased compared with a case where the steering maneuver is not performed in the direction of reducing the fear (S240). A target yaw moment Mt of the vehicle for allowing the vehicle to make the corrective motion is increased (S280). |
