The present invention prevents a vehicle in a low-speed region from deviating from a traveling lane and prevents the vehicle from wandering in the traveling direction. Specifically, the present invention is a lane keeping assist device that assists a vehicle, in which a steering wheel in the vehicle and a turning wheel for turning the vehicle are mechanically detached, to travel within traveling lanes, wherein the lane keeping assist device controls the turning angle of the turning wheel using a first turning angle calculated so as to cause the vehicle to travel in the traveling lane and a second turning angle corresponding to the steering amount of the steering wheel; detects the vehicle speed of the vehicle; calculates a first reaction force command value to the steering wheel corresponding to the first turning angle and a second reaction force command value to the steering wheel corresponding to the second turning angle; controls the steering reaction force to be imparted to the steering wheel to have a steering reaction force that corresponds only to the second reaction force command value when the vehicle speed is higher than a predetermined threshold value (predetermined vehicle speed), and controls the steering reaction force to be imparted to the steering wheel to have a steering reaction force that corresponds to the first reaction force command value and the second reaction force command value when the vehicle speed is at the predetermined threshold value, or less.
LANE MAINTAINING ASSISTANCE DEVICE
SPURHALTUNGSASSISTENZVORRICHTUNG
DISPOSITIF D'ASSISTANCE DE MAINTIEN DE VOIE
2020-01-01
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / 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 / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes |
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