| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling support device capable of performing lane maintenance support without deteriorating riding comfort. SOLUTION: This traveling support device 1 has: a stereo camera 11 detecting a yaw angle or an offset of one's own vehicle, and a road curvature; a navigation system 13 acquiring travel road information; and an ECU 20 setting a target speed pattern from a detection result of the stereo camera 11 or the like, and controlling a throttle actuator 31 or a brake actuator 33 based on the target speed pattern to perform speed control of the vehicle. The ECU 20 sets the target speed pattern such that the vehicle is accelerated on a curve road when an actual travel track is positioned inside a target travel track, sets the target speed pattern such that the vehicle is decelerated when the actual travel track is positioned outside the target travel track, and shifts an equilibrium point with lateral acceleration acting on the vehicle when traveling on the curve road to dissolve a lateral deviation error. COPYRIGHT: (C)2008,JPO&INPIT |
