PROBLEM TO BE SOLVED: To make a driver perform a natural and stable steering assist while leaving his/her drive to lane keep control on a traveling road which is wide in a traveling road width, and to perform optimum lane keep control taking into consideration an actual travel environment without interfering with the avoidance steering of the driver on a traveling road which is narrow in a traveling width.SOLUTION: A motor basic current Ipsb is set according to driver steering torque Td, a feedback control amount Iff is calculated on the basis of a shape of a traveling road, a lateral position feedback control amount Ifb is calculated by calculating a deviation amount Δx between a vehicle trajectory in a front fixation point and a target course, a yaw angle feedback control amount Ifby is calculated on the basis of a yaw angle of a vehicle, a lateral position feedback gain of the lateral position feedback control amount Ifb is set larger than the case that a traveling road width Wr is narrow when the traveling road width Wr is wide, and when the traveling road width Wr is narrow, the yaw angle feedback gain of the yaw angle feedback control amount Ifby is set larger than the case that the traveling road width Wr is wide.

    【課題】走行路幅が広い走行路では、ドライバがレーンキープ制御に任せて自然で安定した操舵支援を行い、走行路幅が狭い走行路ではドライバの回避操舵に干渉することなく、実際の走行環境を考慮した最適なレーンキープ制御を実行する。【解決手段】ドライバ操舵トルクTdに応じてモータ基本電流Ipsbを設定し、走行路形状に基づきフィードフォワード制御量Iffを算出し、前方注視点における車両軌跡と目標コースとの位置のずれ量Δxを算出して横位置フィードバック制御量Ifbを算出し、車両のヨー角に基づいてヨー角フィードバック制御量Ifbyを算出し、走行路幅Wrが広い場合は走行路幅Wrが狭い場合より横位置フィードバック制御量Ifbの横位置フィードバックゲインを大きく設定し、走行路幅Wrが狭い場合は走行路幅Wrが広い場合よりヨー角フィードバック制御量Ifbyのヨー角フィードバックゲインを大きく設定する。【選択図】図3


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    Title :

    VEHICLE LANE KEEP CONTROL DEVICE


    Additional title:

    車両のレーンキープ制御装置


    Contributors:

    Publication date :

    2015-07-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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