| 摘要 |
<p>PROBLEM TO BE SOLVED: To move a vehicle to the target location of a traveling course even if skew traveling of the vehicle is generated by increasing and correcting a steering controlled variable of a rear wheel when the turning state of the vehicle is detected and a state that detection quantity of the turning state is a prescribed value or more is continued. SOLUTION: A guideline on the traveling course of a vehicle is recognized by a guideline recognition means M1. Based on the recognition result, a target location on the traveling course is set by a steering control means M2. When the turning state of the vehicle is detected by a turning state detection means M3 and a state that detection quantity of the turning state is a prescribed value or more is continued, a steering controlled variable of a rear wheel is increased and corrected by a correction means M and the vehicle is moved to the target location set by the steering control means M2. Thus, the vehicle can be moved by being brought close to the center of the traveling course even if skew traveling of the vehicle is generated.</p> |
