Vehicle traveling control apparatus

A vehicle traveling control apparatus, comprising:

• a vehicle parameter detector that detects a vehicle parameter;
• a vehicle parameter estimator that estimates, by means of a vehicle model, a vehicle parameter to be outputted in response to an input value;
• a disturbance-suppressing parameter calculator that estimates, based on the vehicle parameter detected by the vehicle parameter detector and the vehicle parameter estimated by the vehicle parameter estimator, a disturbance generated at a vehicle, and calculates a disturbance-suppressing parameter that suppresses an influence of the disturbance;
• an addition rate changer that identifies, based on the vehicle parameter detected by the vehicle parameter detector and the vehicle parameter estimated by the vehicle parameter estimator, the disturbance generated at the vehicle, and variably sets, based on the identified disturbance, an addition rate of the disturbance-suppressing parameter;
• a disturbance suppressor that applies the disturbance-suppressing parameter set by the addition rate changer
• a lane information detector that obtains lane information;
• a control lane information calculator that performs, based on the vehicle parameter estimated by the vehicle parameter estimator, a feedback of the lane information to calculate control lane information;
• and
• a feedback amount changer that variably sets the lane information to be fed back to the control lane information calculator, based on reliability of the lane information,
• wherein the disturbance suppressor is a steering controller that performs a steering control, based on the control lane information.