BEHAVIOR PREDICTING DEVICE FOR TRAVELLING VEHICLE

摘要

PROBLEM TO BE SOLVED: To prevent the quick change of the behavior of a vehicle not anticipated by a driver, for example, in the steering assist control for the travelling along the confirmed travel path section line, by picking up an image ahead in the advancing direction, travelling while confirming the travel path section line, and predicting the behavior of the vehicle. SOLUTION: A curvature Cn of a travel path obtained by image processing is estimated (S10-S18), and combined with a travel distance Ln to be stored as the time series data (S20), the clothoid parameter (parameter indicating travel path curving degree) An is calculated on the basis of the time series data to be compared with a reference value Aref (S22, S24), and the warning and the steering assist control are stopped when it is above the reference value (S26).