| 摘要 |
PROBLEM TO BE SOLVED: To provide a travel lane departure preventing device for avoiding the puzzlement of a driver when terminating or performing support for preventing departure from a travelling lane. SOLUTION: A steering actuator 3 is controlled in accordance with information on the position of an owned vehicle with respect to the travel lane, detected by first and second detecting means 31A, 31B, to hold the owned vehicle giving steering control torque to a steering system in the travel lane. If the first and second detecting means 31A, 31B are in the condition of enabling detection of the information on the position of the owned vehicle with respect to the travel lane, required steering control torque is granted to the steering system, but if at least one of the first and second detecting means 31A, 31B are in the condition of disabling detection of the information on the position of the owned vehicle with respect to the travel lane, the amount of the required steering control torque to be granted to the steering system is gradually decreased until the granting to the steering system is stopped. |
