PROBLEM TO BE SOLVED: To achieve fail-safe function with a simple logic, and suppress an actuation error.SOLUTION: A lane deviation prevention device 100 comprises: a travel state recognition part 12 for recognizing a travel state of a vehicle 1; a white line recognition part 11 for recognizing a white line; a deviation determination part 13 for determining, whether or not, the vehicle 1 deviates from the lane; a yaw moment calculation part 15 for calculating a yaw moment when it is determined that the vehicle deviates from the lane; a direction determination part 16 for determining a deviation avoidance direction on the basis of a distance between the vehicle 1 and the white line; a direction matching determination part 21 for determining whether or not, a direction for turning round of the vehicle 1 at the target yaw moment matches the deviation avoidance direction; and a brake force control part 22 for controlling brake force of left and right wheels. The brake force control part 22 executes brake force control for providing difference to brake forces of left/right wheels, so as to generate the target yaw moment, when it is determined that, the direction for turning round of the vehicle matches the deviation avoidance direction, by the direction matching determination part 21, and does not execute the brake force control, when it is not determined that, the direction for turning round of the vehicle matches the deviation avoidance direction.SELECTED DRAWING: Figure 1
【課題】簡易なロジックでフェールセーフ機能を持たせ、誤作動を抑制する。【解決手段】車線逸脱防止装置100は、車両1の走行状態を認識する走行状態認識部12と、白線を認識する白線認識部11と、車両1が車線逸脱するか否かを判定する逸脱判定部13と、車線逸脱すると判定した場合に目標ヨーモーメントを算出するヨーモーメント算出部15と、車両1と白線との間の距離に基づき逸脱回避方向を判別する方向判別部16と、目標ヨーモーメントで車両1を回頭する方向が逸脱回避方向と一致するか否かを判定する方向整合判定部21と、左右輪の制動力を制御する制動力制御部22と、を備える。制動力制御部22は、方向整合判定部21で一致すると判定した場合、目標ヨーモーメントが発生するように左右輪の制動力に差を与える制動力制御を実行し、一致すると判定しない場合、当該制動力制御を実行しない。【選択図】図1
LANE DEVIATION PREVENTION DEVICE
車線逸脱防止装置
2018-01-11
Patent
Elektronische Ressource
Japanisch
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |