| 摘要 |
PROBLEM TO BE SOLVED: To prevent a rapid change of controlled variable when a guideline can not be recognized by setting a target location based on the traveling status of a vehicle which was detected in the past and performing a steering control, when the guideline can not be recognized. SOLUTION: This device has a traveling status detection means M 3 detecting the traveling status of a vehicle and an estimation means M 4 estimating a target location based on the traveling status of a vehicle which was detected in the past and making the vehicle perform a steering control so as to travel the estimated target location, when a guideline can not be recognized. Therefore, controlled variable of the steering control can be prevented from rapidly changing when the guideline can not be recognized. |
