PROBLEM TO BE SOLVED: To prevent unnecessary variation of steering force, caused by hunting, etc. in lane deviation control without excessive operation of steering, and to reliably suppress deterioration of a feeling of steering.SOLUTION: Based on a lane-width-direction lateral position xv, a yaw angle θyaw, and a vehicle speed V, a lane deviation expected time Tttlc is calculated, and a target yaw rate γt is calculated. A target yaw moment Mzt is calculated based on the target yaw rate γt and an actual yaw rate γ, and a target torque Tp is calculated depending on the target yaw moment Mzt. The target torque Tp compensates for a friction torque in a steering system by adding a friction compensating torque Tfric in a direction in which the actual yaw rate γ approaches the target yaw rate γt. However, when a vehicle is directed in a direction deviated from a lane, only in the case of γ≤γt, the friction compensating torque Tfric is added, and in the case of γ>γt, the friction compensating torque Tfric is set to 0.

    【課題】ステアリングの切り過ぎを生じること無く、車線逸脱制御におけるハンチング等の操舵力の不要な変動を防止して操舵感の悪化を確実に抑制する。【解決手段】車線幅方向車両横位置xvとヨー角θyawと車速Vに基づいて車線逸脱予想時間Tttlcを算出して目標ヨーレートγtを算出し、該目標ヨーレートγtと実ヨーレートγを基に目標ヨーモーメントMztを算出し、目標ヨーモーメントMztに応じて目標トルクTpを算出する。目標トルクTpは、基本的に実ヨーレートγが目標ヨーレートγtに近づく方向に摩擦補償トルクTfricを付加して操舵系の摩擦トルクを補償するが、車両が車線から逸脱方向に向いている場合は、γ≰γtとなる場合にのみ摩擦補償トルクTfricを付加し、γ>γtとなる場合は、摩擦補償トルクTfricを0とする。【選択図】図3


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    Title :

    LANE DEVIATION PREVENTION CONTROLLER FOR VEHICLE


    Additional title:

    車両の車線逸脱防止制御装置


    Contributors:

    Publication date :

    2015-11-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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