The present invention provides a lane keeping control device of a vehicle. On the wider driving path, drivers carry out the natural and stable steering assist by depending on the lane keeping control, and on the narrower path, the actual driving environment is considered to implement the best lane keeping control on the condition of not interfering the avoidance steering operation of the drivers. A motor basic current is set according to a driver steering torque, a feed-forward control amount Iff is calculated on the basis of a traveling road shape, a deviation delta x between positions of a vehicle track and a target course is calculated at a forward observation point to calculate a lateral position feedback control amount Ifb, a yaw angle feedback control amount Ifby on the basis of a yaw angle of the vehicle is calculated, a lateral position feedback gain of the lateral position feedback amount is set be larger when a traveling road width is large, and a yaw angle feedback gain of the yaw angle feedback control amount is set to be larger when the traveling road width is small.
Lane Keeping Control Device Of Vehicle
2015-07-01
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Lane keeping controller, vehicle system and lane keeping control method
Europäisches Patentamt | 2022
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