Patent ID: 7243026

Claim:
A vehicle traveling control device comprising: object detection means for detecting an object in a traveling environment; obstacle recognition means for recognizing an obstacle to form a traveling obstacle of the vehicle from the object detected by the object detection means; and control means for guiding the vehicle so as to turnably avoid the obstacle recognized by the obstacle recognition means, wherein the control means: sets an avoidance traveling start point to start the avoidance traveling, an avoidance traveling reaching point on the obstacle side based on the position of the obstacle, and an avoidance traveling target point between the avoidance traveling start point and the avoidance traveling reaching point; sets vehicle motion parameters based on a vehicle motion model with the avoidance traveling target point and the avoidance traveling reaching point as target passing positions; and guides the vehicle so that the turning direction of the vehicle is switched to the opposite direction at the avoidance traveling target point with respect to the turning direction of the vehicle from the avoidance traveling start point to the avoidance traveling target point.