The present invention relates to and provides a lane keeping control device for a vehicle, which suppresses a swinging behavior such as snakelike driving due to an over-sensitive response of manipulation over time, and obtains stable driving without change as when leaving a factory. A lane keeping control device for a vehicle sets a target route on which the vehicle should travel, calculates a control amount for an electric power steering motor (12) on the basis of at least the amount of shift from the target route, and controls the vehicle so that the vehicle travels along the target route. A response speed (Vn) of an actual steering angle of the host vehicle with respect to a target steering angle for traveling along a target path and a set response speed (V0) are compared, a gain of a current value (Icmdn + 1) for driving an electric power steering motor (12) is determined so that the response speed (Vn) and the set response speed (V0) coincide, and the determined gain is updated.
本发明涉及并提供一种车辆的车道保持控制装置,其抑制因操纵随着时间变化过度敏感地响应而进行如蛇形行车那样的摆动行为,得到与出厂时一样未变化而稳定的行驶。车辆的车道保持控制装置设定本车辆应行驶的目标路径,至少基于距目标路径的偏移量算出对于电动助力转向马达(12)的控制量,将本车辆控制为沿着目标路径行驶,比较本车辆的实际操纵角相对于用于沿着目标路径行驶的目标操纵角的响应速度(Vn)和设定响应速度(V0),以使响应速度(Vn)和设定响应速度(V0)一致的方式决定驱动电动助力转向马达(12)的电流值(Icmdn+1)的增益,并更新所决定的增益。
Lane keeping control device for vehicle
车辆的车道保持控制装置
2021-08-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Lane keeping controller, vehicle system and lane keeping control method
Europäisches Patentamt | 2022
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