| 摘要 |
PROBLEM TO BE SOLVED: To provide a system preventing travel trajectory control from being suddenly stopped by the execution of provisional travel trajectory control even when an abnormality occurs in a means for executing the travel trajectory control.SOLUTION: A travel trajectory control device 10 includes: a CCD camera 68 for acquiring information about the front of a vehicle; and control devices 22, 30 and 40 for specifying a traveling lane on the basis of the information about the front of the vehicle and performing travel trajectory control to control steering angles of steering wheels so that the vehicle travels along a target trajectory on the basis of the traveling lane. When the information about the front of the vehicle cannot be normally obtained from the CCD camera 68, the traveling lane specified just before is determined as a provisional traveling lane, a real positional relation of the vehicle in relation to the provisional traveling lane is estimated on the basis of state amount of the vehicle and the provisional traveling lane, and the provisional travel trajectory control is performed to control the steering angles of the steering wheels so that the vehicle travels along the provisional target trajectory on the basis of the provisional traveling lane. |
