| 摘要 |
PROBLEM TO BE SOLVED: To prevent a driver from being troubled by hardly performing out-of- lane suppressing processing even when a vehicle approaches an inside lane while a driver travels the vehicle along a curve at high speed. SOLUTION: The position of the vehicle in respect of the nearside lane, on which the vehicle is to be traveled, is detected or estimated by a traveling position detecting means 15. Besides, lateral acceleration acting on the vehicle is detected or estimated by a lateral acceleration detecting means 7. Then, the presence/absence of danger for the vehicle to get out of the nearside lane is decided from the vehicle position detected by the traveling position detecting means by an out-of-lane deciding means 16 and when an out-of-lane danger state is decided by the out-of-lane deciding means 16, out-of-lane suppressing processing is performed by an out-of-lane suppressing means 17. Especially when the lateral acceleration of the vehicle or parameter value corresponding to the lateral acceleration is higher than a prescribed value, the sensitivity of the out-of-lane decision is lowered by the out-of-lane deciding means 16.
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