| 摘要 |
PROBLEM TO BE SOLVED: To achieve simple and safe deviation prevention control. SOLUTION: A braking force controller 100 is provided with a travel condition detection part 101 detecting a travel condition of a vehicle, a deviation determination part 103 determining a deviation tendency of own vehicle from a traveling lane according to the travel condition detected by the travel condition detection part 101, a deviation preventing control part 103 controlling a vehicle in the deviation avoiding direction according to the control contents when the deviation determination part 102 determines deviation or the deviation tendency of the own vehicle, and a road environment detection part 104 detecting an object beside the traveling lane. By means of the deviation prevention control part 103 and a threshold setting part 105, control starting timing of the deviation prevention control is set on the basis of detection of the object beside the traveling lane by the road environment detection part 104, and deviation prevention control is carried out at the set control starting timing. COPYRIGHT: (C)2004,JPO |
