| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane follow-up controller of a vehicle, which maintains lane follow-up control by making driver intervention judgment to be sever when an approaching vehicle exists at the back of a self-vehicle and effectively preventing the deviation of the self-vehicle to a side where the approaching vehicle passes. SOLUTION: When a handle steering angle, handle steering speed and steering torque, which are caused by the steering of a driver, exceed a driver intervention judgment threshold during lane keep control, lane keep control is interrupted in the vehicle lane follow-up controller. The controller is provided with driver intervention judgment threshold setting means (steps S5, S6 and S7) setting the driver intervention judgment threshold of a lane side which is assumed to be the route of the approaching vehicle to be a larger value at regular control time when a back vehicle detection sensor 16 monitoring the back situation of a present vehicle detects the approaching vehicle from the back of the present vehicle. |
