FIELD: vehicles.
SUBSTANCE: invention relates to a method of controlling movement and to a movement control device. Method for controlling movement of a vehicle for a vehicle movement control device comprises steps of, when switching from the manual driving mode to the automatic driving mode: calculating the steering angle target value, calculating the control target value, adjusting the amplification value, to which the target control value is to be multiplied, determining whether the considered vehicle deviates from the lane. If it is determined that the considered vehicle does not deviate from the lane, then the predetermined time passes, smaller than the gain value after the predetermined time has passed, and if it is determined that the considered vehicle deviates from the lane, then the predetermined time passes, equal to the gain value after the predetermined time has passed. Movement control device, which can switch between automatic driving mode and driving mode manually, in which the motion of the vehicle under consideration is not controlled.
EFFECT: improved driver safety is achieved.
3 cl, 3 dwg
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