| 摘要 |
<P>PROBLEM TO BE SOLVED: To avoid an abrupt change in the direction of irradiation with light to alleviate an odd feeling given to a driver. <P>SOLUTION: An irradiation direction control part calculates not only a first target swivel angle θ1 according to a detected lane shape but also a second target swivel angle θ2 according to a detected steering angle even when executing lane following control. When a switchover condition, such as a lane reliability level becoming lower than a reference value, is met, the irradiation direction control part switches from the lane following control to steering angle following control from a point of time delayed by a delay period (a) from a point of time of meeting the switchover condition. During the delay period (a), the irradiation direction control part sets a target swivel angle θt between the first target swivel angle θ1 and the second target swivel angle θ2. <P>COPYRIGHT: (C)2013,JPO&INPIT |
