PROBLEM TO BE SOLVED: To make a decrease in assist torque for lane keeping performed in a suitable mode according to a state when a lane keeping control applying the assist torque for lane keeping is interrupted.SOLUTION: Assist torque for lane keeping in a direction to avoid a deviation of its own vehicle from a traffic lane is applied at a level within a range drivers can overcome. When interrupting a lane keeping control from a state of the lane keeping control where assist torque for lane keeping is being applied, the assist torque for lane keeping is gradually decreased. The decrease in the assist torque for lane keeping is gradually performed in a forecast base when the right and left white lines defining a travel division line cannot be identified. When an over-ride operation is performed where a steering is performed in an opposite direction to the direction an assist torque for lane keeping is applied to, while continuing a calculation for the assist torque for lane keeping, the decrease in the assist torque for lane keeping is performed by gradually decreasing a gain amount thereof.

    【課題】車線維持用アシストトルクを付与している車線維持制御が中止されるときの状況に応じて、車線維持用アシストトルクの低減を好ましい態様で行われるようにする。【解決手段】自車両が走行車線から逸脱するのを防止する方向への車線維持用アシストトルクが、運転者が打ち勝てる範囲の大きさで付与される。車線維持用アシストトルクが付与されている車線維持制御の状態から、車線維持制御を中止するときに、車線維持用アシストトルクが徐々に低減される。この車線維持用アシストトルクの低減が、走行区分線を規定する左右の白線を認識できないときは、見込み的に徐々に低減される。車線維持用アシストトルクの付与方向とは反対方向に操舵されるオーバライド操作されたときは、車線維持用アシストトルクの演算を続行しつつ、そのゲイン量を徐々に低減することにより車線維持用アシストトルクの低減が行われる。【選択図】 図9


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    Title :

    LANE KEEPING SUPPORT SYSTEM


    Additional title:

    車線維持支援システム


    Contributors:

    Publication date :

    2016-01-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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