PROBLEM TO BE SOLVED: To make it possible to obtain stable travel performance even if the own vehicle M is pulled in the direction of a preceding vehicle or pushed out in a vehicle width direction when passing a large preceding vehicle Mt.;SOLUTION: In a case where a following vehicle Mt traveling in a passing lane approaches when the own vehicle M travels along a target advancing path under lane maintaining control, an estimated quantity Zw' of push lateral movement in which the own vehicle M is pushed by the following vehicle Mt and an estimated quantity Zw of pull lateral movement are obtained (S6, S7) on the basis of a following vehicle speed (ΔVt+V) calculated from an own vehicle speed V and a relative vehicle speed ΔVt and on the basis of the front-face projection area Sf and side-face projection area Ss of the following vehicle Mt. A push correction steering angle θkz' and a pull correction steering angle θkz for offsetting them are calculated and are added to FF steering angle θff, thereby calculating an FF target steering angle θffo when subjected to push pressure (S15) and an FF target steering angle θffo when subjected to pull pressure (S16).;SELECTED DRAWING: Figure 2;COPYRIGHT: (C)2019,JPO&INPIT
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