DRIVE-ASSISTING APPARATUS AND DRIVE-ASSISTING METHOD

摘要

Provided is a technology for harmonizing steering and deceleration of a vehicle upon assisting the vehicle to run within a driving lane thereof, and making the vehicle run with stability. Provided is a drive-assisting apparatus that sets a driving lane within which a vehicle is able to run, using road markings that indicate lane boundaries or non-driveable areas as reference points, and when the vehicle deviates from the driving lane, assists the vehicle to run within the driving lane by combining steering and deceleration of the vehicle. When the actual yaw rate (Yrea) is less than a target yaw rate (Ytrg) that is for keeping the vehicle from getting out of the driving lane, the steering and deceleration of the vehicle to be executed upon assisting the vehicle to run within the driving lane, in accordance with the difference (?Y) between the target yaw rate (Ytrg) and the actual yaw rate (Yrea), are controlled individually.