| 摘要 |
PROBLEM TO BE SOLVED: To prevent one's own vehicle from being judged not to be apt to deviate a lane before the vehicle is fully recovered from being apt to deviate the lane, because of fluctuations in front gazing distance corresponding to the speed of the vehicle as the speed of the vehicle fluctuates by the deviation preventive control or the like, and resulting in that, because of fluctuations in the estimated lateral displacement. SOLUTION: A front gazing distance Ls is updated in accordance with a travelling speed V when a warning device 23 and the deviation preventive control are not operated (steps S14, S15, S17). In contrast, when the warning device 23 or the preventing control is activated, after this, the distance Ls is not updated until both warning device 23 and preventive control stop operations, and an estimated lateral displacement Xs is calculated on the basis of the distance Ls at the time when the warning device 23 or the preventive control is started (steps S13, S15-S17). COPYRIGHT: (C)2005,JPO&NCIPI
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