TRAVEL LANE DEPARTURE PREVENTING DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a travel lane departure preventing device allowing smooth transition in response to steering by a driver while suppressing a change in behavior of a vehicle when terminating support for travel lane departure prevention. SOLUTION: A control means 14 controls a steering actuator 3 in accordance with information detected by a travel lane information detecting means 31 to grant required steering control torque to a steering system and hold an owned vehicle in a travel lane. With transition from the condition of enabling detection of information on the position of the travel lane with respect to the owned vehicle into the condition of disabling detection, the control means 14 sets steering control torque to suppress a change in behavior of the owned vehicle in accordance with behavior information on the owned vehicle detected by vehicle behavior detecting means 22, 23 and gradually decreases the steering control torque until the granting of the steering control torque to the steering system is stopped.