A lane keeping controller includes a first initial target steering angle calculator, a second initial target steering angle calculator, and a steering angle calculator. A first arithmetic unit of the first initial target steering angle calculator performs a first arithmetic operation to calculate a first initial target steering angle using a lane curvature so that a vehicle runs along the lane curvature. A second arithmetic unit of the second initial target steering angle calculator performs a second arithmetic operation to calculate a second initial target steering angle using a yaw angle deviation so that a yaw angle to lane agrees with a target yaw angle. During execution of override control, the lane curvature and the yaw angle deviation are not corrected and a target steering angle is made to be small in comparison with that during execution of normal lane keeping control.
LANE KEEPING CONTROLLER
2020-03-12
Patent
Elektronische Ressource
Englisch