PROBLEM TO BE SOLVED: To perform high-accuracy lane deviation prevention control at a natural feeling without imparting incongruity such as pulsation to a driver.SOLUTION: In a lane deviation prevention control device of a vehicle which sets a target yaw rate γref in order to prevent deviation from a lane, and calculates and outputs control torque Tp on the basis of the target yaw rate γref, the control device selects and sets a second friction compensation value Tp fsw as a friction compensation value of a steering system when an absolute value |γ| of an actual yaw rate of a vehicle exceeds an absolute value |γref| of the target yaw rate, and when a difference between the target yaw rate γref and a yaw rate γ exceeds a preset threshold from a state that the second friction compensation value Tp fsw is set to the friction compensation value of the steering system, the control device sets a first friction compensation value Tp fsa to the friction compensation value of the steering system.SELECTED DRAWING: Figure 2

    【課題】ドライバに対し脈動感等の違和感を与えることなく自然なフィーリングで精度の良い車線逸脱防止制御を行う。【解決手段】車線からの逸脱防止のために、目標ヨーレートγrefを設定し、該目標ヨーレートγrefを基に制御トルクTpを算出・出力する車両の車線逸脱防止制御装置において、車両の実ヨーレートの絶対値|γ|が目標ヨーレートの絶対値|γref|を上回った場合には第2の摩擦補償値Tp_fswを操舵系の摩擦補償値として選択設定し、操舵系の摩擦補償値に第2の摩擦補償値Tp_fswが設定されている状態から、目標ヨーレートγrefとヨーレートγとの差が予め設定しておいた閾値を超えた場合に、再度、第1の摩擦補償値Tp_fsaを操舵系の摩擦補償値に設定する。【選択図】図2


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    Titel :

    LANE DEVIATION PREVENTION CONTROL DEVICE OF VEHICLE


    Weitere Titelangaben:

    車両の車線逸脱防止制御装置


    Beteiligte:

    Erscheinungsdatum :

    2016-10-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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