| 摘要 |
PURPOSE:To constitute the device so that running of a vehicle which follows a target path can be executed stably by correcting the target path so that a yaw rate does not exceed a limit value set in advance. CONSTITUTION:In a runnable area recognizing part 3, a road being in front of a vehicle is recognized, and in a target path setting part 4, a target path which becomes a running path of the vehicle on its recognized road is set. Subsequently, a control part 5 derives a yaw rate of the vehicle at the time when it is assumed that it runs at a cor speed detected at present on its target path by a prescribed operation, and the target path is corrected so that the yaw rate derived by its operation does not exceed a limit value set in advance. In such a way, an optimal target path for limiting the yaw rate of the vehicle is set, and running of the vehicle which follow its target path can be executed stably. |
