| 摘要 |
A travel control device (10) of a vehicle for performing trajectory control for causing the vehicle to travel along a travel route by steering steered wheels, the travel control device (10) comprising a roll control device (active stabilizers (56, 58, etc.) for controlling the incline angle of the vehicle body in a lateral direction, and an incline angle estimation device (roll rate sensor (72), stroke sensor (74i), etc.) for determining the incline of the travel route in the lateral direction. When trajectory control is performed in conditions where the vehicle is traveling over a travel route inclined in the lateral direction (S150, 250, 300, 500), the incline angle of the vehicle body in the lateral direction is controlled by the roll control device (S450) so that the incline angle of the vehicle body in the lateral direction is greater than 0 and less than the incline angle of the travel route in the lateral direction. |
