| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To accurately correct a route to a direction for avoiding departure when determined that there is a possibility for own vehicle to depart from its driving lane. <P>SOLUTION: A possibility that own vehicle will run off its driving lane is determined based on the driving state of own vehicle. When determined that there is the possibility of departure, a braking force controlled variable of each wheel is calculated so as to control and move own vehicle to a direction for avoiding the departure, and when brake operation is not performed by the driver, departure prevention control is performed by varying the braking force of each wheel generated in own vehicle. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
