Patent ID: 9550494
Date: 2017-01-24
CPC Classifications: B60W

Claim:
1. An apparatus configured to assist in driving of a vehicle in order to cause the vehicle to follow a target track, the apparatus comprising: an electric control unit that is programmed to: determine a first traveling track along which a first vehicle is able to travel based on road infrastructure; determine, determine a second traveling track along which the first vehicle is able to travel based on the traveling track of a second vehicle that precedes the first vehicle; store deviation information about deviation between the first traveling track and the second traveling track such that the deviation information corresponds to traveling positions of the vehicles; form, based on either the first traveling track or the second traveling track, a target track that the first vehicle is caused to follow; and when a base for formation of the target track is switched between the first traveling track and the second traveling track, form the target track based on the deviation information to decrease the deviation between a first target track and a second target track, wherein the first target track is formed based on the first traveling track, and the second target track is formed based on the second traveling track.