FIELD: transportation.
SUBSTANCE: device controls the vehicle so that the vehicle moving lane at range control and steering control range of vehicle speed which are set in advance. The vehicle control apparatus determines the time margin to departure from the lane in the specified ranges and evaluates return time driving control based on the length of time of release arms. If the difference is obtained by subtracting the time of the return of driver's control of the lead time before leaving the band, equal to the first threshold value or less, the device outputs an alarm to the driver.
EFFECT: timely warning the driver to return to the driver's control operations.
5 cl, 8 dwg
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