| 摘要 |
PROBLEM TO BE SOLVED: To start the issue of an alarm or the support of driving at an optimum timing according to the behavior of a vehicle running on a lane in the lateral direction of the lane. SOLUTION: When calculating distances L1 and L2 necessary for deviation avoidance, a control unit 1 reflects a lateral deceleration AY1 which occurs on a vehicle when a driver performs avoidance steering to avoid the expected deviation from the lane and the lateral deceleration AY2 which occurs on the vehicle when the driver automatically drives a steering actuator 8 to avoid the expected deviation from the lane to correct these values to optimum positions according to the deviated approach angle and speed of the vehicle. |
