PROBLEM TO BE SOLVED: To suppress a variation of a vehicle behavior caused by lane deviation prevention control, and to reliably prevent deviation from a lane without giving discomfort to a driver.SOLUTION: A lane-width-direction lateral position xv and a yaw angle θyaw of a vehicle to a lane are calculated; a lane deviation expected time Tttlc during which the vehicle is deviated from the lane is calculated based on the lane-width-direction lateral position xv, the yaw angle θyaw, and a vehicle speed V; the target yaw moment Mzt which is added to the vehicle that prevents deviation from the lane is calculated based on the yaw angle θyaw and the lane deviation expected time Tttlc; a change rate dMzt/dt of a target yaw moment is observed; and when the change rate dMzt/dt of the target yaw moment is a preset threshold ΔMztc or more, the change rate dMzt/dt of the target yaw moment is limited so as to be less than or equal to a change rate limit value Δrate at which is variably set at least depending on road information.

    【課題】車線逸脱制御により生じる車両挙動の変動を抑制してドライバに違和感を与えることがなく、確実に車線からの逸脱を防止する。【解決手段】車線幅方向車両横位置xv、車線に対する車両のヨー角θyawを算出し、車線幅方向車両横位置xvとヨー角θyawと車速Vに基づいて車線から逸脱する車線逸脱予想時間Tttlcを算出し、ヨー角θyawと車線逸脱予想時間Tttlcとに基づいて車線からの逸脱を防止する車両に付加する目標ヨーモーメントMztを算出し、目標ヨーモーメントの変化率dMzt/dtを観測し、目標ヨーモーメントの変化率dMzt/dtが予め設定する閾値ΔMztc以上の場合に、目標ヨーモーメントの変化率dMzt/dtを少なくとも走行路情報に応じて可変設定した変化率制限値Δrate以下になるよう制限する。【選択図】図3


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    Titel :

    LANE DEVIATION PREVENTION CONTROLLER FOR VEHICLE


    Weitere Titelangaben:

    車両の車線逸脱防止制御装置


    Beteiligte:

    Erscheinungsdatum :

    2015-11-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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