| 摘要 |
<p>PROBLEM TO BE SOLVED: To stop a vehicle without remarkably getting out of a guide lane when the quantity of vehicle position deviation from the guide lane exceeds a prescribed set value. SOLUTION: In this device, the guide line embedded along the guide lane is detected by guide line sensors 19a-19c, the quantity of vehicle position deviation from the guide lane is calculated based on the detected results of these guide line sensors 19a-19c and when this deviation quantity exceeds the prescribed set value (derailment discrimination value), traveling is stopped. Then, steering control is performed based on a control command value so that this deviation quantity can be turned into '0'. In this case, when that deviation quantity exceeds the set value, steering control is continued until current vehicle speed becomes '0' or for the lapse of prescribed time from the vehicle speed '0'. Thus, even when the traveling stopping command of vehicle is issued since the quantity of vehicle position deviation from the guide lane exceeds the prescribed set value, the steering control is continued at least until the vehicle really stops so that the vehicle can be prevented from being stopped remarkably out of the guide lane.</p> |
