| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect an unstable condition of driving operation even under any running condition including a curved road. SOLUTION: An advance azimuth of a vehicle is detected, and a steering angle is estimated when supposing that a driver's attention is concentrated on driving operation based on an advance azimuth detection value. An error between a steering angle estimate value and a steering angle detection value is calculated to detect an unstable condition of driving operation based on a degree of sharpness of distribution of steering error. Consequently, the unstable condition of driving operation can be accurately detected even under any running condition including the curved road.
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