In a drive assist control apparatus, based on a pinion angle command value and an LKA angle command value, a distribution ratio calculation unit calculates a distribution ratio that is a proportion of the LKA angle command value in a sum of the LKA angle command value and the pinion angle command value. An LA determination unit compares an LA threshold with a lateral acceleration that is related to the LKA angle command value and that is a product of a lateral acceleration and the distribution ratio, and determines whether or not to attenuate the lateral acceleration. When the lateral acceleration is determined to be attenuated, an LKA angle command value correction unit uses a low pass filter to progressively reduce the LKA angle command value to generate a filtered LKA angle command value.
Drive assist control apparatus
2017-08-15
Patent
Elektronische Ressource
Englisch
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