| 摘要 |
PROBLEM TO BE SOLVED: To control lane departure of a vehicle from a running area by a simpler processing in a lane departure control device that can control lane departure of the running area.SOLUTION: A lane departure control system acquires a departure angle that shows the angle formed by a boundary line that divides inside and outside of a running area and a running direction of an own vehicle, when the own vehicle starts leaving from the running area (S110); acquires a support angle that shows the angle formed with the boundary line and a targeting running direction of the own vehicle, when returning the own vehicle to the center side of the running area more than the boundary line (S180); and outputs only for the amount of the total of the departure angle and the support angle to displace the running direction of the own vehicle to the center side of the running area (S190, S210-S240). Then, the support angle is set according to the departure angle (S180). |
