| 摘要 |
<p>PROBLEM TO BE SOLVED: To prevent a driver from feeling a sense of incongruity by the automatic execution of driving support control for automatically driving an operation object during driving operation by the driver himself or herself. SOLUTION: A control unit 1 determines the establishment of conditions to perform deviation avoidance support control when estimated deviation predicted time TLD is a prescribed reference value T2 (<T1) or less, and drives a steering actuator 8 in a safe direction so as to actively change the proceeding direction of a vehicle 100. At this time, in the case avoidance steering by the driver himself or herself is performed to avoid lane deviation, a value obtained by adding a prescribed value A to deceleration AYd in the lateral direction of a travel lane of the vehicle generated according to the avoidance steering is set as a control target value AY2 set in the steering actuator 8. The degree of intervention of deviation avoidance support control to the avoidance steering of the driver is adjusted to such an extent that the driver does not feel a sense of incongruity.</p> |
