According to a lane keep assist electronic control unit (LKAECU), a lane recognition section recognizes a driving lane in which the own vehicle is traveling. A target trajectory generation section, a first adder, a feedforward steering angle calculation section, a feedback steering angle calculation section, a second adder, a feedforward torque calculation section, a feedback torque calculation section, and a third adder calculate demanded torque τtgt for controlling steering of the own vehicle so that deviation of the own vehicle from the driving lane is suppressed. A road surface camber correction section detects a camber estimated angle θG which is an inclination angle of a road surface of the driving lane in which the own vehicle is traveling. The road surface camber correction section detects drift of the own vehicle by calculating a yaw rate difference Δω. The road surface camber correction section corrects the demanded torque τtgt based on the camber estimated angle θG and the yaw rate difference Δω.
LANE KEEP ASSIST DEVICE
2018-06-21
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |