Traveling control device, traveling control method, and storage medium

A traveling control method for controlling traveling of a vehicle along a target trajectory, comprising:

• a cant acquisition step of acquiring a cant angle indicating a degree of inclination in a lateral direction of a road surface on which the vehicle travels;
• a deviation calculation step of calculating a lateral deviation between a position of the target trajectory and a position of the vehicle in the lateral direction;
• and
• a steering control step of calculating a target steering angle of the vehicle based on the cant angle and the lateral deviation and controlling steering of the vehicle to follow the target steering angle, wherein
• a feedback term of the target steering angle calculated based on the cant angle and the lateral deviation is provided with a limit variably set according to the cant angle, and
• the target steering angle is set within the limit.

A non-transitory computer-readable storage medium storing a program for controlling traveling of a vehicle along a target trajectory, the program causing a computer to perform:

• a cant acquisition step of acquiring a cant angle indicating a degree of inclination in a lateral direction of a road surface on which the vehicle travels;
• a deviation calculation step of calculating a lateral deviation between a position of the target trajectory and a position of the vehicle in the lateral direction;
• and
• a steering control step of calculating a target steering angle of the vehicle based on the cant angle and the lateral deviation and controlling steering of the vehicle to follow the target steering angle, wherein
• a feedback term of the target steering angle calculated based on the cant angle and the lateral deviation is provided with a limit variably set according to the cant angle, and
• the target steering angle is set within the limit.