Patent attributes
In automatic steering control, when both a traveling lane and a preceding vehicle are detected, a target position on a first vehicle traveling path based on traveling lane information and a target position on a second vehicle traveling path based on preceding vehicle information are set as a first target position and a second target position, respectively. When the second target position is set farther than the first target position, the correction amount of the distance between the first target position and the second vehicle traveling path is set in accordance with the distance difference in the front-rear direction between the first and second target positions, and a third target position is set by correcting the first target position by the correction amount so as to become closer to the second vehicle traveling path. The steering control amount is calculated on the basis of the third target position.
