Vehicle travel track control device

A vehicle travel track control device comprising:

• an image capture device which captures a forward image ahead of a vehicle and captures at least one side image on at least one lateral side of the vehicle, the image capture device having at least one of a variable capturing direction and a variable capturing range;
• and
• an electronic control unit which calculates a target steered angle of steered wheels based on captured image information sent from said image capture device and controls a steered angle of the steered wheels based on said target steered angle to control the vehicle to travel along a lane, wherein
• in a first mode, the electronic control unit calculates the target steered angle of the steered wheels based on captured forward image information ahead of the vehicle, and
• in a situation where the target steered angle of the steered wheels cannot properly be calculated based on the captured forward image information ahead of the vehicle, said electronic control unit changes to a second mode wherein said electronic control unit
• controls said image capture device to capture a side image on a side of the vehicle,
• determines a line of the lane based on captured side image information,
• estimates lateral distances between the vehicle and the line of the lane at reference positions based on the captured side image information,
• estimates a lateral difference and a yaw angle of the vehicle relative to the lane based on the lateral distances at the reference positions,
• calculates a target lateral difference of the vehicle relative to the lane based on the lateral difference of the vehicle and the yaw angle of the vehicle, and
• calculates a target steered angle of the steered wheels based on at least a difference between the lateral difference of the vehicle and the target lateral difference of the vehicle.